Corner Detection - PUC-Rio：-市局力拓的角点检测.ppt

Extra??o de Características cap 4 – Trucco e Verri Características de uma imagem Globais: histograma, conteúdo de freqüências, etc... Locais: regi?es com determinada propriedade, arestas, cantos, curvas, etc... Arestas e cantos Locais de mudan?as significativas na intensidade da imagem Edgedels = edge elements Tipos de arestas Gráfico sem e com ruído Derivadas e arestas Série de Taylor Aproxima??es para derivadas Em 2D Laplaciano Finite differences Classical Operators Classical Operators Detecting Edges in Image Sobel Edge Detector Sobel Edge Detector Sobel Edge Detector Marr and Hildreth Edge Operator Smooth by Gaussian Use Laplacian to find derivatives Marr and Hildreth Edge Operator Marr and Hildreth Edge Operator Marr and Hildreth Edge Operator Quality of an Edge Detector Robustness to Noise Localization Too Many/Too less Responses Canny Edge Detector Criterion 1: Good Detection: The optimal detector must minimize the probability of false positives as well as false negatives. Criterion 2: Good Localization: The edges detected must be as close as possible to the true edges. Single Response Constraint: The detector must return one point only for each edge point. The result General form of the filter (N.B. the filter is odd so h(x) = -h(-x) the following expression is for x 0 only) Approximation Canny’s filter can be approximated by the derivative of a Gaussian Canny Edge Detector Convolution with derivative of Gaussian Non-maximum Suppression Hysteresis Thresholding Algorithm Canny_Enhancer Smooth by Gaussian Canny Edge Operator Canny Edge Detector Canny Edge Detector Non-Maximum Suppression Suppress the pixels in ‘Gradient Magnitude Image’ which are not local maximum Non-Maximum Suppression Non-Maximum Suppression Hysteresis Thresholding Hysteresis Thresholding If the gradient at a pixel is above ‘High’, declare it an ‘edge pixel’ If the gradient at a pixel is below ‘Low’, declare it a ‘non-edge-pixel’ If the gradient at a pixel is between ‘Low’ and ‘High