Object Recognition from Local ScaleInvariant Features局部尺度不变特征的目标识别.pptVIP

Object Recognition from Local ScaleInvariant Features局部尺度不变特征的目标识别.ppt

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Object Recognition from Local ScaleInvariant Features局部尺度不变特征的目标识别

Scale-Invariant Feature Transform (SIFT) Jinxiang Chai Review Image Processing - Median filtering - Bilateral filtering - Edge detection - Corner detection Review: Corner Detection The Orientation Field Good Image Features What are we looking for? Strong features Invariant to changes (affine and perspective/occlusion) Solve the problem of correspondence Locate an object in multiple images (i.e. in video) Track the path of the object, infer 3D structures, object and camera movement, Scale Invariant Feature Transform (SIFT) Choosing features that are invariant to image scaling and rotation Also, partially invariant to changes in illumination and 3D camera viewpoint Invariance Illumination Scale Rotation Affine Required Readings Object recognition from local scale-invariant features [pdf link], ICCV 09 David G. Lowe, Distinctive image features from scale-invariant keypoints, International Journal of Computer Vision, 60, 2 (2004), pp. 91-110 Motivation for SIFT Earlier Methods Harris corner detector Sensitive to changes in image scale Finds locations in image with large gradients in two directions No method was fully affine invariant Although the SIFT approach is not fully invariant it allows for considerable affine change SIFT also allows for changes in 3D viewpoint SIFT Algorithm Overview Scale-space extrema detection Keypoint localization Orientation Assignment Generation of keypoint descriptors. Scale Space Different scales are appropriate for describing different objects in the image, and we may not know the correct scale/size ahead of time. Scale space (Cont.) Looking for features (locations) that are stable (invariant) across all possible scale changes use a continuous function of scale (scale space) Which scale-space kernel will we use? The Gaussian Function Scale-Space of Image variable-scale Gaussian input image Scale-Space of Image variable-scale Gaussian input image To detect stable keypoint locations, find the

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