Dynamic Vision - INTELLIGENCE Lab Description动态视觉智能实验室的描述.pptVIP

E.G.M. Petrakis * Tracking: a feature or an object must be tracked over a sequence of frames Easy to solve for single entities For many entities moving independently requires constraints Path coherence: the motion of an object in a frame sequence doesnt change abruptly between frames (assumes high sampling rate) The location of a point will be relatively unchanged The scalar velocity of a point will be relatively unchanged The direction of motion will be relatively unchanged E.G.M. Petrakis * Deviation function for path coherence: A trajectory of a point i: Ti=Pi1,Pi2,…,Pin Pik: point i at k-th frame In vector form: Xi=Xi1,Xi2,…,Xin Deviation of the point in the k-th frame: dik=φ(Xik-1Xik,XikXik+1) Deviation for the complete trajectory: For m points (trajectories) in a sequence of n frames the total deviation is Minimize D to find the correct trajectories E.G.M. Petrakis * The trajectories of 2 points: The points in the 1st, 2nd and 3rd frame are labeled by squares, triangles and rhombus respectively The change in the direction and velocity must be smooth E.G.M. Petrakis * D is a function of φ, how φ is computed? It is described by the function φ can also be written as w1,w2: weight terms E.G.M. Petrakis * Direction coherence: the first term Dot product of displacement vectors Speed coherence: the second term Geometric/arithmetic mean of magnitude Limitations: same number of features in every frame Objects may disappear, appear or occlude Changes of geometry, illumination Lead to false correspondences Force the trajectories to satisfy certain local constraints Dynamic Vision E.G.M. Petrakis * Dynamic Vision Dynamic vision copes with Moving or changing objects (size, structure, shape) Changing illumination Changing viewpoints Input: sequence of image frames Frame: Image at a particular instant of time Differences between frames: due to motion of camera or object, illumination changes, changes of objects Output: detect changes, compute motion of camera