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Hausdorff Distance for Shape Matching

Speaker: Yu Xiaozhou Supervisor: Maylor Leung 2004. 9. 29.

Outline
Introduction n Curve Segment Hausdorff Distance (CHD) n Experiment Results n Conclusion and Future Work
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Outline
Introduction n Curve Segment Hausdorff Distance (CHD) n Experiment Results n Conclusion and Future Work
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IntroductionShape Recognition Application


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Chinese character

Fingerprints

Industrial parts

Logos

IntroductionRelated Works
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Hausdorff distance (HD)


For two sets of points A = a1 ,..., a m and B = b1 ,..., bn

H ( A, B ) = max( h ( A, B ), h ( B , A ))
where

h ( A, B ) = max min || a b ||
a A b B

Modified Hausdorff distance (MHD)

1 h( A, B ) = m

min
a A

b B

|| a b ||

IntroductionRelated Works
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Line segment Hausdorff distance


(LHD1, Gao and Leung, 2002 )

Lb

1. Parallel distance:

La l ||1

l
l||2

d || ( La , Lb ) = min(l||1 , l||2 )
2. Perpendicular distance:

Distances between

La and Lb

d ( La , Lb ) = l

IntroductionRelated Works
3. Angle distance:

La
( La , Lb )

d ( La , Lb ) = f ( ( La , Lb ))

f:
Lb

A penalty function which is determined by a training process.

IntroductionRelated Works
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Modified line segment Hausdorff distance (LHD2,Chen and Leung, 2003)


Perpendicular and parallel distances are remained without changing. Angle distance is redefined as

La

d ( La , Lb ) = min(|| La ||, || Lb ||)


d ( LHD 2 ) ( La , Lb )

sin( ( La , Lb ))

( La , Lb )

Lb

IntroductionRelated Works
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LHD* (Yu and Leung, 2003)


Angle and parallel distances are remained the same as LHD2. Perpendicular distance is redefined as

La
l 2 l 1

1 d ( La , Lb ) = ( w1 l1 + w2 l 2 ) 2
Where

Lb

li wi = , l1 + l2

(i = 1,2)

IntroductionRelated Works
HD: Hausdorff Distance

HD LHD1

Huttenlocher etc. 1993 Gao and Leung 2002 Chen and Leung 2003 Yu and Leung 2003 Yu and Leung 2003

Point to point matching

LHD: Line Segment Hausdorff Distance

LHD2 LHD*

Line to line matching

CHD: Curve Segment Hausdorff Distance

CHD

Curve to curve matching

Outline
Introduction n Curve Segment Hausdorff Distance (CHD) n Experiment Results n Conclusion and Future Work
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CHD
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Basic concepts and terminologies


Images (LEM)
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Curves

Lines

M - Model image N
- Test image

N LM / L i, p j , q - Lines

CiM- Curve on M CN j - Curve on N

M N C / C on i j

CHD
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Distances between two line segments (LHD*)

Angle distance

d ( La , Lb ) = min(|| La ||, || Lb ||) sin( (La , Lb ))


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Perpendicular distance

La

Lb
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1 d ( La , Lb ) = (w1 l1 + w2 l2 ) 2 l i wi = , (i = 1,2) l1 + l2
Parallel distance is omitted

CHD
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Proposed distance between a line and a curve

M i, p

CN j '
1 M N d ( L , C ' ) = N LN d ( L , L j ,q i, p j ,q ) C j ' LNj ,q C N j '
M i, p N j

N d ( LM , C i, p j ' ) =|

N LN j ,q C j '

M N d ( L , L i , p j ,q ) |

CHD
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Proposed distance between two curves

1 M N d (C , C ) = M LM d ( L , C i, p i, p j ') M Ci LM i , p Ci
M i N j

d (CiM , C N j )=

M LM i , p C i

M N d ( L , C i, p j ' )

CHD
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Proposed distance between two images


d (C , N ) =
M i

I.

M CN j S ( Ci )

1 C
N j

M CN j S ( Ci

M N CN d ( C , C j i j ) )

d (CiM , N ) =
S (CiM ) :

M CN j S ( Ci )

M N d ( C , C i j)

M N C C JN , , C , i ' s Neighboring part for Jn 1

matching and

JN

j = J1

C jN C iM

CHD
II.
d (M , N ) = + 1 ( Rm

CiM M M d ( C i , N ) + dc (M , N ))

1 CiM

C iM M

CiM d (CiM , N )

CiM M

d c (M , N ) : compensation distance

Outline
Introduction n Curve Segment Hausdorff Distance (CHD) n Experiment Results n Conclusion and Future Work
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Experiment Results
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Some examples of logos

Examples:

Set 1

Set 2

Set 3

Set 4

Set 5

Set 6

Set 7

Set 8

Experiment Results
100.00% 80.00% Recognition rate 60.00% 40.00% 20.00% 0.00% Set 1 Set 2 Set 3 Set 4 Set 5 Set 6 Set 7 Set 8 MHD LHD CHD

Test images

Outline
Introduction n Curve Segment Hausdorff Distance (CHD) n Experiment Results n Conclusion and Future Work
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Conclusion
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We analyzed the development of the methods in Hausdorff distance family. A novel shape matching algorithm (CHD) is proposed. The proposed shape recognition system is relatively robust to distortions and noise with encouraging experiment results.

Future Work
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The performance of CHD can be further improved. We will extend CHD for 3D object recognition, CHDs good performance in occlusion and skewing implies the potential of our work in this direction.

Thank you!