ORB特征.pptVIP

ORB Features Outline Steered BRIEF Variance and Correlation Learning Good Binary features Evaluation FAST Detector FAST Detector FAST detector Steered BRIEF Variance and Correlation Learning Good Binary features Evaluation FAST Detector Steered BRIEF Variance and Correlation Learning Good Binary features Evaluation FAST Detector Orientation by Intensity Centroid 图像的矩特征 定义： 图像的0阶矩： 图像的1阶矩： Intensity Centroid 图像的质心centroid： 图像块的方向： : a vector from the corners center,O, to the centriod C. Intensity Centroid O O C Steered BRIEF Variance and Correlation Learning Good Binary features Evaluation FAST Detector Orientation by Intensity Centroid Data transformation Data transformation Steered BRIEF operater: For any feature set of n binary tests at location Define a 2 x n matrix: Steered BRIEF Variance and Correlation Learning Good Binary features Evaluation Variance and Correlation FAST Detector Variance and Correlation Variance and Correlation Variance and Correlation Variance and Correlation Variance and Correlation x y Variance and Correlation Variance and Correlation How to understand? How to understand? How to understand? Steered BRIEF Variance and Correlation Learning Good Binary features Evaluation Variance and Correlation FAST Detector Learning Good Binary features Learning good Binary Features Task Feature Selection Targets To reduce correlation among the binary tests Method A greedy Search Algorithm Experiment Settings Training Sets: 300K keypoints from PASCAL06 Patch size: 31x31 Subwindow size: 5 x 5 Possible test number: 205590 Algorithms Variance and Correlation Steered BRIEF Variance and Correlation Learning Good Binary features Evaluation Variance and Correlation FAST Detector Learning Good Binary features Evaluation Rotation Test Scaling Test Blur Test Lighting Test Pattern detection in real video Extraction Time How to use ORB ? OpenCV 2.3 a program download address： /vinjn/CreativeCoding/tree/master/OpenCVExperiments/OrbTest The END Thanks! Any