Google Street View: Capturing the World at Street Level

@article{Anguelov2010GoogleSV,
  title={Google Street View: Capturing the World at Street Level},
  author={Dragomir Anguelov and Carole Dulong and Daniel Filip and Christian Fr{\"u}h and St{\'e}phane Lafon and Richard Lyon and Abhijit S. Ogale and Luc Vincent and Josh Weaver},
  journal={Computer},
  year={2010},
  volume={43},
  pages={32-38}
}
Street View serves millions of Google users daily with panoramic imagery captured in hundreds of cities in 20 countries across four continents. A team of Google researchers describes the technical challenges involved in capturing, processing, and serving street-level imagery on a global scale. 
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References

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TLDR
This work presents a system that combines a standard sliding-window detector tuned for a high recall, low-precision operating point with a fast post-processing stage that is able to remove additional false positives by incorporating domain-specific information not available to the sliding- window detector. Expand