计算机视觉课件14.pptVIP

Course14 Dynamic Vision * * Course14 Dynamic Vision Biological vision can cope with changing world. ----- Moving and changing objects ----- Change illumination ----- Change View-point ----- Other changes Computer vision does in the similar ways. But we have only focus on: ----- Stationary camera, stationary objects ----- Stationary camera, moving objects ----- Moving camera, stationary objects ----- Moving camera, moving objects Change Detection ----- Stationary camera, moving objects in scene. ----- Detect moving object from stationary scene. ----- Two or more frames of image. ----- Images are well aligned. ? (1)??Difference Pictures: DPjk(x, y)=1 , if |fj(x,y) – fk(x,y)| T DPjk(x, y)=0 , otherwise PDPjk(x, y)=1 , if fj(x,y) – fk(x,y) T PDPjk(x, y)=0 , otherwise NDPjk(x, y)=1 , if fj(x,y) – fk(x,y) T NDPjk(x, y)=0 , otherwise Size filter should used to remove small connected components that are due to noisy pixels. Small motion cannot be detected when use size filter. (2) Accumulated Difference Pictures ----- a sequence of images taken by a stationary camera at different time. ----- to detect small/slow motion objects by enhancing the difference of pixel values. ? ADP0(x,y) = 0 ADPk(x,y) = ADPk-1(x,y) + DP1k(x,y) ? ADP0(x,y) = 0 ADPk(x,y) = ADPk-1(x,y) + DP1k(x,y) Where (3) Time-varying Edge Detection: ----- Detect the edges of moving objects. ----- Intensity changes in space and in time make up each other. Since spatial and temporal changes of image complement each other. Either Good intensity change/Slow object motion or Poor intensity change/Proper object motion can yield good result of edge detection of moving objects. (4) Segment moving object with moving camera ----- Moving objects in stationary scene. ----- Translational moving camera. When camera is performing translational motion in a stationary scene. The image of the scene looks as if caming out