Vision for Graphics视觉图形.pptVIP

Today Feature Tracking Good features to track (Shi and Tomasi paper) Tracking Structure from Motion Tomasi and Kanade Singular value decomposition Extensions on Monday (1/29) Multi-view relations The fundamental matrix Robust estimation Assignment 2 out Structure from Motion Reconstruct Scene geometry Camera motion Structure from Motion The SFM Problem Reconstruct scene geometry and camera motion from two or more images Structure from Motion Step 1: Track Features Detect good features corners, line segments Find correspondences between frames Lucas Kanade-style motion estimation window-based correlation Structure from Motion Step 2: Estimate Motion and Structure Simplified projection model, e.g., [Tomasi 92] 2 or 3 views at a time [Hartley 00] Structure from Motion Step 3: Refine Estimates “Bundle adjustment” in photogrammetry Discussed last lecture and in Triggs reading Other iterative methods Structure from Motion Step 4: Recover Surfaces Image-based triangulation [Morris 00, Baillard 99] Silhouettes [Fitzgibbon 98] Stereo [Pollefeys 99] Feature Tracking Problem Find correspondence between n features in f images Issues What’s a feature? What does it mean to “correspond”? How can correspondence be reliably computed? Tracking Features Approach Compute motion of a small image patch Alternatively: line segment, curve, shape Feature Correspondence Correspondence Problem Given feature patch F in frame J, find best match in frame I Feature Distortion Feature may change shape over time Need a distortion model to really make this work Selecting Good Features What’s a “good feature”? Satisfies brightness constancy Has sufficient texture variation Does not have too much texture variation Corresponds to a “real” surface patch Does not deform too much over time Good Features to Track Translation Case Optimal (u, v) satisfies Lucas-Kanade equation Selecting Good Features Selecting Good Features Selecting Good Features Tracking Over Many Frames So far we’ve only c