Distinctive image features using local descriptors(SIFT讲解).ppt

Contents Overall picture Region detectors Scale invariant detection Localization Orientation assignment Region description SIFT approach Local Jet Storing and matching State of the art - Video Google Our goal Detecting repeatable image regions Obtaining reliable and distinctive descriptors Searching an image database for an object efficiently Invariance vital Scale Rotation Orientation Illumination Noise Affine Region detectors Harris points - Invariant to rotation Two significant eigenvalues indicate an interest point Harris-Laplace – Invariant to rotation and scale Uses Laplacian of Gaussian operator SIFT - Scale space extrema using Difference of Gaussian Scale Invariant Detection Consider regions (e.g. circles) of different sizes around a point Regions of corresponding sizes will look the same in both images Scale Invariant Detection The problem: how do we choose corresponding circles independently in each image? Scale Invariant Detection A “good” function for scale detection has one stable sharp peak Scale-space Definition: where Keypoints are detected using scale-space extrema in difference-of-Gaussian function D Efficient to compute Close approximation to scale-normalized Laplacian of Gaussian, Image space to scale space Relationship of D to Diffusion equation: Approximate ?G/?σ: giving, Therefore, When D has scales differing by a constant factor it already incorporates the σ2 scale normalization required for scale-invariance Local extrema detection Find maxima and minima in scale space Frequency of sampling in scale Localization 3D quadratic function is fit to the local sample points Start with Taylor expansion with sample point as the origin where Take the derivative with respect to X, and set it to 0, giving is the location of the keypoint This is a 3x3 linear system Localization Derivatives approximated by finite differences, example: If X’ is 0.5 in