Beruflich Dokumente
Kultur Dokumente
2
What is Local Feature?
*Image pattern which differs from its immediate
neighborhood
*Tinne Tuytelaars and Krystian Mikolajczyk. "Local invariant feature detectors: a survey." Foundations and Trends in
Computer Graphics and Vision , vol. 3, no. 3, pp. 177-280, January 2008.
3
Intuition : Object Matching
4
Challenge : Diverse Scene Variation
Original Image
Projective Effect
Skew
Anisotropic Scaling
5
Level of Invariance
Scale
Affine
6
Feature Detection Properties
Repeatable
Same features from different images shows the same object
Distinctive
Rich variation in intensity pattern so that different image
structures can be told apart from each other
Locality
Detected features should be local, which is less sensitive to
occlusion and viewpoint changes
7
Feature Detection Properties
Quantity
Numbers of detected features should be sufficiently large
Accuracy
Features should be accurately localized, both in location,
scale and shape
Efficiency
Detection time should be reasonable, preferably allowing
time-critical application
8
Example of Local Features
Edge
Corner
Blob
a) Edge feature b) Corner feature
Affine covariant
region
http://kr.mathworks.com/products/computer-vision/features.html
9
Rotation Invariant Descriptor
10
Affine Covariant Feature Description
Credits : T. Tuytelaars
11
Distribution Based Descriptor
Pixel intensities
12
Binary Descriptor
General Equation
13
Binary Descriptor
Binary descriptors varying in terms of
Orientation compensation
Sampling pattern
Sampling pairs
Matching:
Hamming distance (SUM of XOR) instead of Euclidean
Pros
Very Fast and low memory consumption
Robust for illumination changes
Cons
Less distinctive
14
Local Feature Descriptors
1. SIFT
2. SURF
3. FAST
4. BRIEF
5. LIOP
15
SIFT Scale Space Detection
Simulating scale changes
16
SIFT Scale Space Detection
17
SIFT Scale Space Detection
18
SIFT - Orientation Check
19
SIFT
Result of Detected SIFT Features
20
SURF
21
SURF
22
SURF
24
SURF
25
SURF
Result of Detected SURF Features
26
FAST
27
FAST
d,
Sp->x = , < < +
, +
28
FAST Non Maxima Suppression
Detected points may be adjacent one to another
Some possibility of V :
1. Maximum value of n for which p is still corner
30
FAST
31
BRIEF
Binary distributions are used as feature point descriptor since
their dimensionality can be reduced.
BRIEF method requires a pre-smoothed image as initiation.
Select a set (Nd(x,y)) of locations pairs randomly and store it in x
and y vectors from smoothed image patch.
Binary comparison using pixel intensity is done on these set of
locations.
Ex. A pair of match pixels in Nd, p and q are compared ((p,q) Nd).
If I(p) < I(q), result is 1, otherwise 0.
Dimension of locations pairs can be 128, 256, 512.
32
BRIEF Sampling Pairs
Different approaches to
choosing test locations:
GI: Locations of p and q are distributed over the
patch
33
LIOP
34
LIOP
Firstly, smooth image with Gaussian
filter to reduce noise.
35
LIOP
Let P be the vectors of all possible permutation in N dimension.
= {(, , , )}
The vectors in the same partition have the same order relationship.
Map each partition into index table for all possible permutation
To obtain rotation invariant sampling, first point is sampled along radial direction and
the rest N-1 is sampled in anti-clockwise direction.
Each transformed pixels classified in same bins by the intensity order and rotation
invariant sampling.
36
LIOP
37
Conclusion
Detector descriptor combination obtain different result
The choice of detector and descriptor should be adjusted with the scene content
(structured, textured, etc)
38
References
Tuytelaars, T., & Mikolajczyk, K. (2008). Local invariant feature detectors: a survey. Foundations and
Trends in Computer Graphics and Vision, 3(3), 177-280.
Lowe, D. G. (1999). Object recognition from local scale-invariant features. InComputer vision, 1999. The
proceedings of the seventh IEEE international conference on (Vol. 2, pp. 1150-1157). Ieee.
Bay, H., Tuytelaars, T., & Van Gool, L. (2006). Surf: Speeded up robust features. In Computer visionECCV
2006 (pp. 404-417). Springer Berlin Heidelberg.
Rosten, E., & Drummond, T. (2006). Machine learning for high-speed corner detection. In Computer
VisionECCV 2006 (pp. 430-443). Springer Berlin Heidelberg.
Calonder, M., Lepetit, V., Strecha, C., & Fua, P. (2010). Brief: Binary robust independent elementary
features. Computer VisionECCV 2010, 778-792.
Wang, Z., Fan, B., & Wu, F. (2011, November). Local intensity order pattern for feature description.
In Computer Vision (ICCV), 2011 IEEE International Conference on (pp. 603-610). IEEE.
http://docs.opencv.org/3.0-
beta/doc/py_tutorials/py_feature2d/py_features_meaning/py_features_meaning.html#features-
meaning
39