%PDF-1.3 1 0 obj << /Kids [ 3 0 R 4 0 R 5 0 R 6 0 R 7 0 R 8 0 R 9 0 R 10 0 R 11 0 R 12 0 R ] /Type /Pages /Count 10 >> endobj 2 0 obj << /Title (Optimal Transformation Estimation With Semantic Cues) /Producer (PyPDF2) /Author (Danda Pani Paudel\054 Adlane Habed\054 Luc Van Gool) /Subject (2017 IEEE International Conference on Computer Vision) >> endobj 3 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 14 0 R /Resources << /XObject << /x8 15 0 R /x6 18 0 R /x12 21 0 R /x10 24 0 R >> /ExtGState << /s9 27 0 R /s11 30 0 R /a0 << /CA 1 /ca 1 >> /R35 33 0 R /s5 34 0 R /s7 37 0 R >> /Font << /R42 40 0 R /R40 44 0 R /F2 47 0 R /F1 48 0 R /R38 49 0 R /R36 53 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 57 0 R 58 0 R 59 0 R 60 0 R 61 0 R 62 0 R 63 0 R 64 0 R 65 0 R 66 0 R 67 0 R 68 0 R 69 0 R 70 0 R 71 0 R 72 0 R 73 0 R 74 0 R 75 0 R 76 0 R 77 0 R 78 0 R 79 0 R 80 0 R 81 0 R 82 0 R ] >> endobj 4 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 83 0 R /Resources << /ExtGState << /R35 33 0 R >> /Font << /F2 84 0 R /R63 85 0 R /R57 90 0 R /R42 40 0 R /R65 94 0 R /R67 99 0 R /F1 104 0 R /R61 105 0 R /R38 49 0 R /R36 53 0 R /R69 109 0 R /R59 113 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 118 0 R 119 0 R 120 0 R 121 0 R 122 0 R 123 0 R 124 0 R 125 0 R ] >> endobj 5 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 126 0 R /Resources << /ExtGState << /R35 33 0 R >> /Font << /F2 127 0 R /R63 85 0 R /F1 128 0 R /R57 90 0 R /R42 40 0 R /R65 94 0 R /R90 129 0 R /R67 99 0 R /R88 134 0 R /R61 105 0 R /R38 49 0 R /R36 53 0 R /R69 109 0 R /R59 113 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 137 0 R 138 0 R 139 0 R 140 0 R 141 0 R 142 0 R 143 0 R 144 0 R 145 0 R 146 0 R 147 0 R ] >> endobj 6 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 148 0 R /Resources << /ExtGState << /R35 33 0 R >> /Font << /F2 149 0 R /R63 85 0 R /R113 150 0 R /F1 153 0 R /R57 90 0 R /R42 40 0 R /R115 154 0 R /R65 94 0 R /R90 129 0 R /R67 99 0 R /R88 134 0 R /R61 105 0 R /R38 49 0 R /R36 53 0 R /R69 109 0 R /R59 113 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 157 0 R 158 0 R 159 0 R 160 0 R 161 0 R 162 0 R 163 0 R 164 0 R 165 0 R 166 0 R 167 0 R 168 0 R 169 0 R 170 0 R 171 0 R 172 0 R ] >> endobj 7 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 173 0 R /Resources << /ExtGState << /R35 33 0 R >> /Font << /R59 113 0 R /R57 90 0 R /R42 40 0 R /F2 174 0 R /R88 134 0 R /R90 129 0 R /R139 175 0 R /R145 180 0 R /R147 184 0 R /R141 187 0 R /R143 190 0 R /R115 154 0 R /R65 94 0 R /R67 99 0 R /F1 193 0 R /R61 105 0 R /R63 85 0 R /R38 49 0 R /R36 53 0 R /R69 109 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 194 0 R 195 0 R 196 0 R 197 0 R 198 0 R 199 0 R 200 0 R 201 0 R 202 0 R 203 0 R 204 0 R 205 0 R 206 0 R 207 0 R 208 0 R 209 0 R 210 0 R ] >> endobj 8 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 211 0 R /Resources << /ExtGState << /R35 33 0 R >> /Font << /F2 212 0 R /R63 85 0 R /R57 90 0 R /R65 94 0 R /R90 129 0 R /R67 99 0 R /F1 213 0 R /R61 105 0 R /R38 49 0 R /R36 53 0 R /R69 109 0 R /R59 113 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 214 0 R 215 0 R 216 0 R 217 0 R 218 0 R 219 0 R 220 0 R 221 0 R 222 0 R 223 0 R 224 0 R 225 0 R 226 0 R 227 0 R 228 0 R 229 0 R 230 0 R ] >> endobj 9 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 231 0 R /Resources << /XObject << /R192 232 0 R /R189 233 0 R /R190 234 0 R /R191 235 0 R >> /ExtGState << /R35 33 0 R >> /Font << /F2 236 0 R /R63 85 0 R /R113 150 0 R /R65 94 0 R /R67 99 0 R /F1 237 0 R /R61 105 0 R /R38 49 0 R /R36 53 0 R /R69 109 0 R /R59 113 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 238 0 R 239 0 R 240 0 R 241 0 R 242 0 R 243 0 R 244 0 R 245 0 R 246 0 R 247 0 R 248 0 R 249 0 R 250 0 R ] >> endobj 10 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 251 0 R /Resources << /XObject << /R228 252 0 R /R229 253 0 R /R200 254 0 R /R201 255 0 R /R260 256 0 R /R199 257 0 R /R220 258 0 R /R221 259 0 R /R222 260 0 R /R223 261 0 R /R224 262 0 R /R225 263 0 R /R226 264 0 R /R227 265 0 R /R257 266 0 R /R248 267 0 R /R249 268 0 R /R246 269 0 R /R247 270 0 R /R244 271 0 R /R245 272 0 R /R242 273 0 R /R243 274 0 R /R240 275 0 R /R241 276 0 R /R270 277 0 R /R217 278 0 R /R209 279 0 R /R219 280 0 R /R218 281 0 R /R208 282 0 R /R211 283 0 R /R210 284 0 R /R213 285 0 R /R212 286 0 R /R214 287 0 R /R239 288 0 R /R238 289 0 R /R237 290 0 R /R236 291 0 R /R235 292 0 R /R234 293 0 R /R233 294 0 R /R232 295 0 R /R231 296 0 R /R230 297 0 R /R259 298 0 R /R258 299 0 R /R255 300 0 R /R254 301 0 R /R271 302 0 R /R256 303 0 R /R251 304 0 R /R250 305 0 R /R253 306 0 R /R252 307 0 R /R198 308 0 R /R269 309 0 R >> /ExtGState << /R35 33 0 R >> /Font << /R202 310 0 R /R265 315 0 R /R267 318 0 R /R215 321 0 R /R59 113 0 R /R204 324 0 R /R263 328 0 R /F2 331 0 R /F1 332 0 R /R90 129 0 R /R206 333 0 R /R261 336 0 R /R65 94 0 R /R67 99 0 R /R61 105 0 R /R63 85 0 R /R38 49 0 R /R36 53 0 R /R69 109 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ ] >> endobj 11 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 339 0 R /Resources << /ExtGState << /R35 33 0 R >> /Font << /R42 40 0 R /R40 44 0 R /F2 340 0 R /F1 341 0 R /R38 49 0 R /R36 53 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 342 0 R 343 0 R 344 0 R 345 0 R 346 0 R 347 0 R 348 0 R 349 0 R 350 0 R 351 0 R 352 0 R 353 0 R 354 0 R 355 0 R 356 0 R 357 0 R 358 0 R 359 0 R 360 0 R 361 0 R 362 0 R 363 0 R 364 0 R 365 0 R 366 0 R 367 0 R 368 0 R 369 0 R 370 0 R 371 0 R 372 0 R 373 0 R 374 0 R 375 0 R 376 0 R 377 0 R 378 0 R 379 0 R ] >> endobj 12 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 380 0 R /Resources << /ExtGState << /R35 33 0 R >> /Font << /F2 381 0 R /F1 382 0 R /R42 40 0 R /R38 49 0 R /R40 44 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 383 0 R 384 0 R 385 0 R 386 0 R 387 0 R 388 0 R 389 0 R 390 0 R 391 0 R 392 0 R 393 0 R 394 0 R 395 0 R 396 0 R 397 0 R 398 0 R 399 0 R 400 0 R 401 0 R 402 0 R 403 0 R 404 0 R ] >> endobj 13 0 obj << /Type /Catalog /Pages 1 0 R >> endobj 14 0 obj << /Length 22233 >> stream q q q 0.10000 0 0 0.10000 0 0 cm /R35 gs 0 g q 10 0 0 10 0 0 cm BT /R36 14.34620 Tf 1 0 0 1 124.37600 675.06800 Tm [ (Optimal) -249.98700 (T) 73.99240 (ransf) 24.99400 (ormation) -250.02000 (Estimation) -250.01600 (with) -250.01000 (Semantic) -250.01800 (Cues) ] TJ /R38 11.95520 Tf -43.25310 -37.85820 Td [ (Danda) -249.98800 (P) 14.98410 (ani) -249.99600 (P) 14.98410 (audel) ] TJ -23.73090 -13.94690 Td [ (Computer) -250.00500 (V) 59.99250 (ision) -250.00700 (Laboratory) ] TJ 18.18910 -13.94800 Td [ (D\055ITET) 74.00350 (\054) -249.97800 (ETH) -249.99400 (Zurich) ] TJ /R40 8.96642 Tf -13.70700 -13.94800 Td (paudel\100vision\056ee\056ethz\056ch) Tj /R38 11.95520 Tf 201.37900 41.84300 Td [ (Adlane) -250.01100 (Habed) ] TJ -8.30312 -13.94770 Td [ (ICube) -250.00300 (Laboratory) ] TJ -34.69880 -13.94730 Td [ (CNRS\054) -250.00300 (Uni) 24.99770 (v) 15.01980 (ersity) -250.01700 (of) -250.01300 (Strasbour) 17.98300 (g) ] TJ /R40 8.96642 Tf -0.64609 -13.94800 Td (adlane\056habed\100icube\056unistra\056fr) Tj /R38 11.95520 Tf 215.65200 41.84300 Td [ (Luc) -250.00900 (V) 110.99800 (an) -250.00500 (Gool) ] TJ -35.50590 -13.94770 Td [ (Computer) -250.00500 (V) 59.99350 (ision) -250.00500 (Laboratory) ] TJ 18.18910 -13.94730 Td [ (D\055ITET) 74.00250 (\054) -249.97700 (ETH) -249.99300 (Zurich) ] TJ /R40 8.96642 Tf -16.39610 -13.94800 Td (vangool\100vision\056ee\056ethz\056ch) Tj /R36 11.95520 Tf -255.55000 -41.04610 Td (Abstract) Tj /R42 9.96262 Tf -83.92810 -23.92580 Td [ (This) -325.98700 (paper) -326.00100 (addr) 36.99870 (esses) -326.01000 (t) 1.02679 (h) -1.01331 (e) -325.00800 (pr) 44.98630 (oblem) -326.00300 (of) -326.00900 (estimating) -326.00600 (the) -326.01400 (g) 10.00320 (e\055) ] TJ -11.95510 -11.95510 Td [ (ometric) -275.02600 (tr) 14.99260 (ansformation) -275.99400 (r) 37.02070 (elating) -275.01400 (two) -276.00400 (distinct) -275.00500 (visual) -276 (modali\055) ] TJ 11.95510 TL T* [ (ties) -244.99800 (\050e) 13.99150 (\056g) 14.98710 (\056) -307.98400 (an) -245.98500 (ima) 9.97748 (g) 10.00440 (e) -244.98200 (and) -245.97900 (a) -245.01100 (map\054) -246.99700 (or) -245.00400 (a) -245.99200 (pr) 44.98630 (ojective) -245.00300 (structur) 37.01830 (e) -246 (and) ] TJ 11.95590 TL T* [ (a) -209.99800 (Euclidean) -210.98500 (3D) -209.99400 (model\051) -210.02500 (while) -210.01000 (r) 37.02070 (elying) -211.00200 (only) -210.02600 (on) -209.99200 (semantic) -210.99100 (cues\054) ] TJ 11.95510 TL T* [ (suc) 15.02630 (h) -382.98800 (as) -382.98100 (semantically) -383.02200 (se) 39.99690 (gmented) -383.01000 (r) 37.02070 (e) 39.98960 (gions) -383.00100 (or) -384.00100 (object) -383.01400 (bound\055) ] TJ T* [ (ing) -354 (boxes\056) -622.97700 (The) -354 (pr) 44.98630 (oposed) -353.99200 (appr) 44.99730 (oac) 14.98640 (h) -354.01300 (dif) 18.01900 (fer) 10.01060 (s) -354.01100 (fr) 45.02670 (om) -354.98900 (the) -354.00900 (tr) 14.99260 (adi\055) ] TJ T* [ (tional) -344.01800 (featur) 37.00480 (e\055to\055featur) 37.00970 (e) -344.02400 (corr) 36.99010 (espondence) -343.99800 (r) 37.02070 (easoning\072) -499.01400 (start\055) ] TJ T* [ (ing) -334.98300 (fr) 45.02670 (om) -336.01100 (semantic) -335.01000 (r) 37.02070 (e) 39.98960 (gions) -335.98900 (on) -334.99000 (one) -336.01300 (side) 10.01550 (\054) -355.97700 (we) -336.00900 (seek) -335.00500 (their) -335.99700 (pos\055) ] TJ 11.95590 TL T* [ (sible) -274.00700 (corr) 37.02990 (esponding) -274.02400 (r) 37.02070 (e) 39.98960 (gions) -274.97900 (on) -273.98100 (the) -274.02200 (other) 111.02300 (\054) -279.98900 (thus) -275.02500 (constr) 15.00730 (aining) ] TJ 11.95510 TL T* [ (the) -294.01800 (sought) -295.01000 (g) 10.00440 (eometric) -294.00700 (tr) 14.99260 (ansformation\056) -442.98200 (This) -295.01100 (entails) -293.99000 (a) -295.00400 (simul\055) ] TJ T* [ (taneous) -357.00300 (sear) 37.02990 (c) 14.97420 (h) -356.99200 (for) -357.99700 (the) -356.98900 (tr) 14.99260 (ansformation) -356.99900 (and) -357.02100 (for) -357.01800 (the) -358.00800 (r) 37.02070 (e) 39.99080 (gion\055) ] TJ T* [ (to\055r) 36.99190 (e) 39.98960 (gion) -274.98700 (corr) 37.02930 (espondences\056) -385.98000 (This) -275.01600 (paper) -274.99000 (is) -274.99800 (the) -275.00300 <0272> 10.01060 (st) -275.97800 (to) -274.99800 (derive) ] TJ T* [ (the) -388.00200 (conditions) -387.99600 (that) -387.98600 (must) -387.00800 (be) -387.97100 <7361746973026564> -388.00800 (for) -388.03300 (a) -388.00800 (con) 40.00300 (ve) 19.98930 (x) -388.01500 (r) 37.02070 (e) 39.99080 (gion\054) ] TJ T* [ <6465026e6564> -364 (by) -363.97500 (contr) 44.99610 (ol) -363.02300 (points\054) -392.98900 (to) -363.02300 (be) -363.97500 (tr) 14.99260 (ansformed) -364.01000 (inside) -363.98500 (an) -364.00500 (el\055) ] TJ 11.95590 TL T* [ (lipsoid\056) -465.98800 (These) -302.00500 (conditions) -302.01000 (ar) 36.98760 (e) -301.99200 (formulated) -302.01300 (as) -302.01500 (Linear) -302.02700 (Matrix) ] TJ 11.95510 TL T* [ (Inequalities) -249.00300 (and) -248.99800 (used) -247.98100 (within) -249.00600 (a) -249.01100 (Br) 15.02930 (anc) 14.98640 (h\055and\055Prune) -249.01700 (sear) 37.03050 (c) 14.97540 (h) -249.01200 (to) ] TJ T* [ (obtain) -321.98500 (the) -322.01400 (globally) -322.01900 (optimal) -322.01800 (tr) 14.99260 (ansformation\056) -527.00700 (W) 91.98690 (e) -321.98700 (tested) -322.00200 (our) ] TJ T* [ (appr) 44.99790 (oac) 14.98640 (h\054) -227.99200 (under) -222.01900 (mild) -221.97600 (initial) -222.03000 (bound) -222.01000 (conditions\054) -227.98100 (on) -221.98900 (two) -221.97200 (c) 14.97540 (hal\055) ] TJ T* [ (lenging) -359.00100 (r) 37.02010 (e) 39.98960 (gistr) 15.01340 (ation) -359.00400 (pr) 44.98630 (oblems) -359.99100 (for) -359.01700 (aligning\072) -527.97700 (\050i\051) -358.99600 (a) -360.01300 (semanti\055) ] TJ T* [ (cally) -348.00500 (se) 39.99690 (gmented) -349.01600 (ima) 9.97748 (g) 10.00440 (e) -348.02300 (and) -349.02100 (a) -348.01400 (map) -348.98400 (vi) 0.98513 (a) -348.99500 (a) -348.01500 (2D) -348.99000 (homo) 9.98116 (gr) 14.99010 (aphy\073) ] TJ 11.95590 TL T* [ (\050ii\051) -221.01100 (a) -221.01500 (pr) 44.98570 (ojective) -222.02500 (3D) -221.01200 (structur) 37.01830 (e) -220.98600 (and) -221.00300 (its) -221 (Euclidean) -222.00400 (counterpart\056) ] TJ /R36 11.95520 Tf 47.86840 TL T* [ (1\056) -249.98800 (Intr) 17.98550 (oduction) ] TJ /R38 9.96262 Tf 11.95510 -18.94410 Td [ (Estimating) -206.99800 (a) -208.00800 (geometric) -206.99600 (transformation) -207.00900 (relating) -206.99700 (tw) 10.01060 (o) -208 (o) 14.98280 (v) 14.98280 (er) 19.99170 (\055) ] TJ -11.95510 -11.95590 Td [ (lapping) -480 (instances) -480.00600 (of) -479.99400 (a) -478.98200 (scene\054) -538.02100 (be) -479.99500 (it) -479.00100 (images) -480.01000 (or) -479.99500 (3D) -479.98800 (point) ] TJ 11.95510 TL T* [ (clouds\054) -343.00800 (typically) -325.00100 (relies) -324.99000 (on) -323.97200 (establishing) -325.02100 (cross\055instance) -325.00900 (\050e\056g\056) ] TJ T* [ (2D\0552D\054) -459.98000 (2D\0553D) -459.00200 (or) -459.99700 (3D\0553D\051) -459.00500 (correspondences) -460.01300 (of) -459.99800 (lo) 24.99090 (w\055le) 25.02030 (v) 14.98280 (el) ] TJ T* [ (features) -433.02000 (such) -434.02800 (as) -432.98200 (points) -434.00400 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 153.15500 176.65700 Tm (38) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 163.11800 176.65700 Tm [ (\135\054) -479.01700 (lines) -434.02000 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 200.15900 176.65700 Tm (6) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 205.14000 176.65700 Tm [ (\135\054) -479.01700 (planes) -433.00500 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 248.80700 176.65700 Tm (18) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 258.77000 176.65700 Tm [ (\135\054) -479.99700 (sk) 14.99010 (y\055) ] TJ -208.65700 -11.95510 Td [ (lines) -405.00500 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 76.28400 164.70200 Tm (35) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 86.24650 164.70200 Tm [ (\135\054) -444.00300 (or) -404.00700 (scene) -405.02700 (constraints) -405.02300 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 185.48400 164.70200 Tm (22) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 195.44600 164.70200 Tm [ (\135\056) -775.00600 (The) -405.02200 (success) -405.01200 (of) -404.98800 (es\055) ] TJ -145.33600 -11.95510 Td [ (tablishing) -229.00100 (such) -229.98400 (correspondences) -230.01300 (may) -229.00400 (be) -229.99800 (undermined) -228.97800 (by) -229.98800 (the) ] TJ 11.95590 TL T* [ (absence) -384.98900 (of) -384.99000 (such) -385.01700 (features) -384.98900 (or) -384.99000 (by) -384.98200 (the) -386.00300 (dif) 24.98840 <0263756c7479> -384.99400 (of) -384.99100 (matching) ] TJ 11.95510 TL T* [ (them\056) -293.02200 (Such) -201 (dif) 24.98720 <0263756c7479> -200.00500 (w) 10.00320 (ould) -201 (be) -200.00300 (high) -201 (in) -199.99200 (case) -201.02700 (of) -200.00300 (v) 14.98280 (ery) -200.98600 (dif) 24.98840 (ferent) ] TJ T* [ (modalities) -300.01000 (\050e\056g\056) -459.01400 (matching) -300.02700 (an) -299.00600 (image) -300.00700 (and) -299.97900 (a) -299.99100 (ma) 0.99003 (p) -1.01453 (\051) 1.01699 (\056) -459.99800 (Methods\054) ] TJ T* [ (such) -282.99600 (as) -281.98800 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 85.61880 104.92600 Tm (13) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 95.58130 104.92600 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 100.89100 104.92600 Tm (32) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 110.85400 104.92600 Tm [ (\135\054) -291.01000 (do) -281.97900 (not) -282.99100 (require) -283.00400 (ini) 1.00228 (tial) -282.99100 (correspondences) -283.02300 (yet) ] TJ -60.74220 -11.95510 Td [ (the) 14.98830 (y) -249.99100 (rely) -249.98900 (on) -249.98500 (detecting) -250.00600 (such) -249.98100 (lo) 24.98970 (w\055le) 25.02150 (v) 14.98400 (el) -249.99200 (features\056) ] TJ 11.95510 -11.97070 Td [ (Mainly) -589.98100 (spurred) -590.98200 (by) -590.00600 <7369676e690263616e74> -590 (adv) 24.98600 (ances) -589.97600 (in) -590.98400 (Machine) ] TJ 246.79600 473.32100 Td [ (Learning) -316.00300 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 351.29400 554.32100 Tm (21) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 361.25600 554.32100 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 366.90500 554.32100 Tm (20) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 376.86800 554.32100 Tm [ (\135\054) -333.00300 (detecting) -315.99600 (higher) -316.98600 (le) 25.02030 (v) 14.98280 (el) -315.98100 (features) -317 (\050objects\054) ] TJ -68.00470 -11.95510 Td [ (re) 15.01220 (gions\054) -458.98400 (and) -417.01800 (their) -417.99300 (semantic) -416.99800 (labels\051) -417.00800 (is) -417.01300 (no) 25.02520 (w) 10.00320 (adays) -417.99800 (reaching) ] TJ 11.95590 TL T* [ (unparalleled) -313.01300 (le) 25.02030 (v) 14.98280 (els) -314.01300 (of) -313.00400 (performance) -312.99600 (in) -314.01100 (a) -313.01100 (v) 24.98110 (ariety) -312.99600 (of) -314.02100 (imaging) ] TJ 11.95510 TL T* [ (modalities) -320.98700 (including) -320.99500 (2D) -320.99500 (images) -320.97500 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 444.52400 518.45500 Tm (20) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 454.48600 518.45500 Tm [ (\135\054) -339.00200 (videos) -321.99500 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 496.21000 518.45500 Tm (16) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 506.17200 518.45500 Tm [ (\135\054) -339.00200 (and) -320.99500 (3D) ] TJ -197.30900 -11.95510 Td [ (point) -351.98500 (clouds) -351.00900 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 365.68000 506.50000 Tm (41) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 375.64200 506.50000 Tm [ (\135\056) -614.99400 (In) -352.01700 (man) 14.99260 (y) -352.01400 (applications\054) -377.02000 (the) -351.02900 (use) -351.97000 (of) -352.01400 (tradi\055) ] TJ -66.77930 -11.95510 Td [ (tional) -246.00500 (hand\055crafted) -245.00800 (features) -245.99300 (\050such) -245.98300 (as) -245.01300 (SIFT\051) -246.00700 (is) -245.98300 (outperformed) ] TJ 11.95510 TL T* [ (by) -249.98500 (that) -249.98000 (of) -249.99500 (high\055le) 25.00310 (v) 14.98280 (el) -249.99200 (features) -249.99200 (learned) -249.99200 (by) -249.98700 (Neural) -250.02600 (Netw) 10.01300 (orks\056) ] TJ 11.95470 -14.31210 Td [ (As) -362.98500 (semantic) -363.00500 (labels) -363.01500 (for) -362.99800 (2D) -363.02700 (images) -363.00700 (and) -362.98800 (3D) -362.98800 (data) -362.99300 (can) -362.99800 (be) ] TJ -11.95470 -11.95470 Td [ (obtained) -361.00500 (quite) -361.99300 (accurately) -360.98800 (no) 25.02520 (w) 10.00320 (adays) -362.00700 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 461.25100 456.32300 Tm (23) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 471.21300 456.32300 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 477.30100 456.32300 Tm (24) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 487.26300 456.32300 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 493.36000 456.32300 Tm (48) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 503.32300 456.32300 Tm [ (\135\054) -388.99300 (it) -360.98300 (is) -362.00300 (be\055) ] TJ -194.46100 -11.95510 Td [ (coming) -269.99600 (particularly) -269.99900 (appealing) -270.98400 (to) -269.97900 (use) -269.98400 (these) -270.01800 (for) -269.99400 (solving) -271.00800 (geo\055) ] TJ 11.95470 TL T* [ (metric) -239.97900 (problems\056) -307.00200 (Matching) -239.99900 (high\055le) 25.00560 (v) 14.98280 (el) -239.99400 (features) -241.01300 (and) -239.98900 (estimat\055) ] TJ T* [ (ing) -276.99200 (the) -277.00200 (underlying) -275.98500 (aligning) -277.00700 (transformation) -276.99700 (is) -276.99700 (a) -277.01700 (challenging) ] TJ T* [ (problem) -265.01900 (that) -264.99700 (we) -265.01400 (address) -264.01700 (in) -265 (this) -264.98500 (paper) 55.01520 (\056) -354.99400 (Supporting) -264.99000 (transfor) 20.01130 (\055) ] TJ 11.95630 TL T* [ (mation) -353.00200 (estimation) -352.98200 (with) -353.99200 (semantic) -353.00900 (cues) -352.99400 (has) -352.98900 (the) -352.98900 (potential) -353.97500 (to) ] TJ 11.95470 TL T* [ (impro) 15.00970 (v) 14.98280 (e) -208.00700 (the) -207.01400 (success) -207.98700 (rate\054) -216 (speed) -207.99400 (and) -207.99400 (accurac) 15.00240 (y) -207.01900 (of) -208 (the) -207.99400 (process\056) ] TJ 11.95510 -14.31130 Td [ (Owing) -369.00600 (to) -370.00100 (their) -369.02100 (success) -369.02100 (in) -369.02100 (man) 14.99260 (y) -370.01100 (applications\054) -399.01600 (Machine) ] TJ -11.95510 -11.95510 Td [ (Learning) -308.00400 (techniques) -307.00900 (ha) 20 (v) 14.98280 (e) -307.99200 (been) -308.02200 (tried) -308.01200 (to) -306.99200 (solv) 15.00240 (e) -307.99200 (a) -307.99200 (wide) -308.01200 (range) ] TJ T* [ (of) -265.99200 (problems) -267.01400 (in) -265.98000 (Computer) -267.00400 (V) 59.99480 (ision\054) -269.99400 (including) -267.00400 (that) -266.01400 (of) -267.00900 (learning) ] TJ 11.95630 TL T* [ (geometric) -228.99100 (parameters) -227.98600 (directly) -228.99600 (from) -229.00500 (images) -228.01100 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 485.14100 334.41500 Tm (12) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 495.10400 334.41500 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 499.87600 334.41500 Tm (45) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 509.83800 334.41500 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 514.61000 334.41500 Tm (44) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 524.57300 334.41500 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 529.34500 334.41500 Tm (25) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 539.30800 334.41500 Tm (\135\056) Tj -230.44600 -11.95510 Td [ (This) -371.00800 (said\054) -401.01100 (attempts) -370.99100 (to) 24.99090 (w) 10.00320 (ards) -370.99100 (the) -371.02600 (latter) -370.98100 (ha) 20.00150 (v) 14.98280 (e) -371.00100 (only) -371.01100 (met) -371.01600 (with) ] TJ 11.95510 TL T* [ (limited) -192 (success\056) -290.99000 (The) -192.98000 (results) -191.97700 (were) -192.01200 (often) -193.01200 (not) -191.98700 (on) -193.01600 (par) -192.00700 (with) -193.00200 (those) ] TJ T* [ (of) -323.00200 (model\055based) -323.00400 (methods\056) -529.00400 (Although) -322.99400 (model\055based) -323.00400 (transfor) 20.01130 (\055) ] TJ T* [ (mation) -317.98800 (estimation) -318.00800 (may) -317.96800 (potentially) -318.01000 <62656e650274> -319.01500 (from) -318.01000 (semantics\054) ] TJ 11.95590 TL T* [ (methods) -249.99200 (to) -249.98200 (do) -249.98500 (so) -250.02400 (ha) 20 (v) 14.98280 (e) -250 (obtained) -250.00200 (little) -250.00200 (attention\056) ] TJ 11.95510 -14.31090 Td [ (Semantic) -311.00600 (cues) -311.00100 (ha) 20 (v) 14.98280 (e) -311.98900 (been) -311.00100 (successfully) -311.00600 (e) 14.97300 (xploited) -311.00100 (to) -312.01100 (sup\055) ] TJ -11.95510 -11.95510 Td [ (port) -550.00800 (se) 24.97860 (v) 14.98280 (eral) -549.98800 (3D) -550.01500 (vision) -550.02500 (tasks) -550 (such) -550.01000 (as\054) -626.00700 (k) 10.00320 (e) 14.97300 (ypoint) -549.98600 (match\055) ] TJ 11.95510 TL T* [ (ing) -470.99900 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 329.60500 236.41800 Tm (19) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 339.56800 236.41800 Tm [ (\135\054) -527.00900 (3D) -471.00900 (reconstruction) -471.99400 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 432.50900 236.41800 Tm (10) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 442.47100 236.41800 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 449.65500 236.41800 Tm (39) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 459.61700 236.41800 Tm [ (\135\054) -527.00900 (and) -471.00900 (robot) -472.01300 (na) 20.00150 (vig) 5 (a\055) ] TJ -150.75400 -11.95510 Td [ (tion) -380.02600 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 331.46800 224.46300 Tm (7) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 336.45000 224.46300 Tm [ (\135\056) -702 (In) -380.99200 (the) -380.00400 (conte) 14.99010 (xt) -381.01900 (of) -380.00900 (transformation) -381.01900 (estimation\054) -413.00900 (the) ] TJ -27.58670 -11.95590 Td [ (method) -428.00900 (in) -427.99100 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 358.34700 212.50600 Tm (11) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 368.31000 212.50600 Tm [ (\135) -428.00900 (learns) -427.99400 (and) -427.99600 (estimates) -428.00600 (the) -427.99600 (relati) 24.99090 (v) 14.98280 (e) -428.01100 (homog\055) ] TJ -59.44690 -11.95470 Td [ (raph) 4.98445 (y) -368.99200 (between) -368.00200 (a) -368.99900 (pair) -369.02800 (of) -368.99400 (images) -367.98700 (using) -369.00100 (deep) -369.03100 (con) 40.00300 (v) 20.00150 (olutional) ] TJ 11.95510 TL T* [ (neural) -517 (netw) 9.97381 (orks\056) -1111.99000 (F) 14.99260 (or) -517.00800 (producing) -516.97100 (a) -516.97600 (semantic) -517.02100 (map) -518.01500 (from) ] TJ T* [ (multi\055vie) 24.98840 (w) -283.98600 (str) 0.99248 (eet\055le) 24.97860 (v) 14.98280 (el) -283.98600 (imagery) 64.99390 (\054) -291.98500 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 442.57100 176.64100 Tm (40) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 452.53400 176.64100 Tm [ (\135) -283.99600 (considers) -283.02100 (a) -283.99600 (homogra\055) ] TJ -143.67100 -11.95510 Td [ (ph) 4.99180 (y) -255.99100 (relationship) -255.98400 (between) -255.98100 (semantically) -255.98600 (labeled) -255.97600 (pix) 14.99750 (els) -257.00600 (of) -255.99100 (the) ] TJ 11.95510 TL T* [ (ground) -284.00400 (plane) -283.97900 (in) -284.01600 (one) -283.98100 (image) -284.01100 (and) -283.98100 (a) -283.99600 (sub\055set) -284.00100 (in) -284.01600 (another) 54.98580 (\056) -412.00400 (These) ] TJ 11.95630 TL T* [ (methods) -350.99500 (fully) -351.01400 (rely) -351.03100 (on) -350.98700 (the) -351.02900 (ability) -351 (of) -352.01400 (learning) -351.01400 (methods) -350.99500 (and) ] TJ 11.95510 TL T* [ (do) -229.00800 (not) -230.02000 (pro) 15.02690 (vide) -229.00300 (guaranties) -228.99100 (on) -229.99100 (the) -229.01000 (optimality) -228.99100 (of) -229.01500 (the) -229.99100 (estimated) ] TJ T* [ (parameters\056) -304.98800 (In) -237.01600 (this) -235.97000 (re) 15.01220 (g) 4.98445 (ard\054) -239.01400 (a) -236.00400 (global) -236.00900 (method) -236.00400 (for) -236.98000 (uncalibrated) ] TJ T* [ (2D\0553D) -380.97700 (alignment) -380.00400 (w) 10.00320 (as) -380.99200 (proposed) -381.00400 (in) -380 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 458.32200 104.91000 Tm (31) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R38 9.96262 Tf 1 0 0 1 468.28400 104.91000 Tm [ (\135\056) -702 (The) -381.02400 (method) -381 (re\055) ] TJ -159.42100 -11.95510 Td [ (lies) -250.99700 (on) -251.98400 (multi\055con) 40.00300 (v) 14.98280 (e) 14.97540 (x) -251.01200 (conditions) -252.01600 (for) -251.01600 (associating) -251.99200 (correspond\055) ] TJ 11.95510 TL T* [ (ing) -254.99600 (multi\055vie) 24.98840 (w) -255.99100 (2D) -255.00600 (pix) 14.99750 (els) -255.00300 (and) -255.00600 (3D) -255.98600 (bounding) -255.00600 (box) 14.99750 (es\056) -325.97900 (Y) 99.98800 (et\054) -257.01100 (that) ] TJ ET Q Q Q q q 1 1 1 rg /a0 gs 48.40600 786.42200 515.18800 -52.69900 re f q /s5 gs /x6 Do Q q /s7 gs /x8 Do Q q /s9 gs /x10 Do Q q /s11 gs /x12 Do Q Q Q Q q 1 0 0 1 0 0 cm BT /F1 12 Tf 14.40000 TL ET 1 1 1 rg n 270 32 72 14 re f* 0.50000 0.50000 0.50000 rg BT /F2 9 Tf 10.80000 TL ET BT 1 0 0 1 297 35 Tm (4658) Tj T* ET Q endstream endobj 15 0 obj << /Filter /FlateDecode /Resources << /ExtGState << /a0 << /CA 1 /ca 1 >> >> /XObject << /x18 16 0 R >> >> /Length 28 /Group << /Type /Group /S /Transparency /CS /DeviceRGB /I true >> /BBox [ 78 746 96 765 ] /Type /XObject /Subtype /Form >> stream x+O4PH/VЯ0Pp 0 endstream endobj 16 0 obj << /Filter /FlateDecode /Resources 17 0 R /Length 107 /Type /XObject /BBox [ 78 746 96 765 ] /Subtype /Form >> stream xe AC̬wʠ =p,?]%+H-
Jc "82w8VSnGW;"
endstream
endobj
17 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
18 0 obj
<<
/Filter /FlateDecode
/Resources <<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
/XObject <<
/x15 19 0 R
>>
>>
/Length 28
/Group <<
/Type /Group
/S /Transparency
/CS /DeviceRGB
/I true
>>
/BBox [ 67 752 84 775 ]
/Type /XObject
/Subtype /Form
>>
stream
x+O4PH/VЯ04Up
0
endstream
endobj
19 0 obj
<<
/Filter /FlateDecode
/Resources 20 0 R
/Length 228
/Type /XObject
/BBox [ 67 752 84 775 ]
/Subtype /Form
>>
stream
xeQKn!s ?FPav6R٪TS.
b];15YyR
{7QL.\:Rv/x9l+L7h%1!}i/AI(kz"U&,YO![R hg{3}4/GyYF:!w}Gn+'xJcO9i뽼_-:`
endstream
endobj
20 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
21 0 obj
<<
/Filter /FlateDecode
/Resources <<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
/XObject <<
/x24 22 0 R
>>
>>
/Length 28
/Group <<
/Type /Group
/S /Transparency
/CS /DeviceRGB
/I true
>>
/BBox [ 133 751 479 772 ]
/Type /XObject
/Subtype /Form
>>
stream
x+O4PH/VЯ02Qp
0
endstream
endobj
22 0 obj
<<
/Filter /FlateDecode
/Resources 23 0 R
/Length 53008
/Type /XObject
/BBox [ 133 751 479 772 ]
/Subtype /Form
>>
stream
xlK8,8?DKs9mavd
{f-8*2Y@H >חk}y}uf`v)_s}1z#*Gw_gX jow\o'1c|Z^G<
A̺X}ay?IT|y~L.[ {Ȟb\3-3]_'X\竵0{+_۾oY-wj+ B;)Aa=/
1~a(>}m_K' >*Q1:?OPnGsQ_`?mzN
?WBB!lU n'S 1Ipzχ1xF_09,}?e){:̹~Gu7g {0mD`pdS)>;ys`Pµx'O
+혝 oI~!p7̵&m=dC+>5ALV"I1"S*CKha#03L4|@p灟vMRQ==*/m"r>@uqo9ͻ;Vz 'ȳ;IBzWR~ihwa8PlT>]fZ8y52)r빃W{B7G/q)}M]elS(k=5^A] сڸc'w!Ll'M=Ȥ뎓z;#կN>\q6r>|8}}Lr$Mo5:>syls+Ǵ`C?/9{Y||jD u#i^\rJ8a|oY+Rxl<{[؏s迨nYaյ[?/^u;+ ,bhL}wrj:ɴdM8^q|m'aQ6;0k_ar|E8HɃpN('&r`V;Rs볩Nk\&W=DDG#5]~M{VyCSRH9ܜXˏt7߾i9ADگ
USڝ|{(hbIRZXg @6Hɹ0Dq;si\Tv<1?mUŏV7bF
p7Y9sƨ*.uz_LբřsB݃ɹ^'_Yae91f+n%A̶d
Ċc#q
CF=Mt'\&ξ)z;L-4:n}41j:mӶ_)\݇ |T@uAƓxAN6Ql;}Ɲ{~_y"g%]nCi']I~,xa?feoɌr0u?V=phldx.Y;~nZL603> \`ęܓ