CS 223-B Lect Advanced Features - Sebastian Thruns …CS 223-b功能先进的功能-塞巴斯蒂安特伦….pptVIP

CS 223-B Part A Lect. : Advanced Features Sebastian Thrun Gary Bradski Readings This lecture is in 2 separate parts: “A” - Fourier, Gabor, SIFT and “B” - Texture and other operators”. B is optional due to time limitations. Good to look through nevertheless. Read: Computer Vision, Forsyth Ponce Chapters 7 and (optional for texture) 9 … but do it lightly just for the gist. David G. Lowe, “Distinctive Image Features from Scale-Invariant Keypoints”, IJCV’04. Just read/take notes on basic flow of the algorithm. W. Freeman and E. Adelson, “The Design and Use of Steerable Filters”, IEEE Trans. Patt. Anal. and Machine Intell., Vol. 13, No. 9. Read pages 1-15. Left over questions… Calibration question – the optimization is based on gradient descent iterations which depend on finding a good initial starting guess. How do we scale image derivatives?? Great question… Images exist as brightness values over pixels. What are the units then of a simple derivative operator like [-1 0 1]? Good Features beat Good Algorithms For tasks such as recognition, tracking, and segmentation, experience shows: With the “right” features, all algorithms will work well. With the “wrong” features, “good” algorithms will work marginally better than “bad/simple” algorithms, but it won’t work well. Fourier Transform 1 Foundational trick: represent signal/data in terms of an orthogonal basis. For example, a vector v in 3 space can be represented as a projection onto 3 orthonormal vectors: In the same way, a function can be represented as a point projected into a space of (infinitely many) orthogonal functions. For Fourier transforms, we project a function into a space of cos and sin Intuitively, how do we know this sin, cos basis is orthogonal? Sin or Cos periodically spend as much time above as below the axis. If the frequency is mismatched, the functions will cancel each other out over minus to plus infinity. Formally, one could use To prove Fourier Transform 2 Fourier Properties