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    CV#7 SIFT Scale Invariant Feature Transform

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    CV#7 SIFT Scale Invariant Feature Transform

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    CV#7 SIFT Scale Invariant Feature Transform.pptx

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    12 views70 pages

    CV#7 SIFT Scale Invariant Feature Transform

    Uploaded by

    2022ac05322

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 70

    Session #7:

    SIFT
    Instructors, Computer Vision

    Credits: Slides adopted from Shree K Nayar’s lectures


    Motivation: Automatic panoramas

    Credit: Matt
    Why extract features?

    • Motivation: panorama stitching


    – We have two images – how do we combine them?
    Why extract features?

    • Motivation: panorama stitching


    – We have two images – how do we combine them?

    Step 1: extract features Step 2: match features


    Why extract features?

    • Motivation: panorama stitching


    – We have two images – how do we combine them?

    Step 1: extract Step 2: match Step 3: align


    features features images
    Application: Visual SLAM

    • (aka Simultaneous Localization and Mapping)


    Image matching

    by Diva Sian

    by swashford
    Harder case

    by Diva Sian by scgbt


    Harder still?
    Answer below (look for tiny colored squares…)

    NASA Mars Rover images


    with SIFT feature matches
    Feature matching for object search
    Feature Matching
    Object matching
    Invariant local features
    Find features that are invariant to transformations
    – geometric invariance: translation, rotation, scale
    – photometric invariance: brightness, exposure, …

    Feature Descriptors
    Advantages of local features
    Locality
    – features are local, so robust to occlusion and clutter

    Quantity
    – hundreds or thousands in a single image

    Distinctiveness:
    – can differentiate a large database of objects

    Efficiency
    – real-time performance achievable
    More motivation…

    Feature points are used for:


    – Image alignment (e.g., mosaics)
    – 3D reconstruction
    – Motion tracking (e.g. for AR)
    – Object recognition
    – Image retrieval
    – Robot/car navigation
    – … other
    Approach
    1. Feature detection: find it
    2. Feature descriptor: represent it
    3. Feature matching: match it

    Feature tracking: track it, when motion


    Local features: main components
    Detection: Identify the interest
    points

    Description: Extract vector


    feature descriptor surrounding
    each interest point

    Matching: Determine
    correspondence between
    descriptors in two views

    Credit: Kristen Grauman


    SIFT - Key point Extraction
    ● Stands for scale invariant feature transform
    ● Patented by university of British Columbia
    ● Similar to the one used in primate visual system (human, ape, monkey, etc.)
    ● Transforms image data into scale invariant coordinates

    David Lowe, UBC

    D. Lowe. Distinctive image features from scale-invariant key points., International Journal of Computer Vision 2004.
    Goal
    ● Extracting distinctive invariant features
    ○ Correctly matched against a large database of features from many images
    ● Invariance to image scale and rotation
    ● Robustness to
    ○ Affine distortion,
    ○ Change in 3D viewpoint,
    ○ Addition of noise,
    ○ Change in illumination.
    Raw image matching
    σ normalised
    Variation in Scale σ
    Variation in Scale σ
    Gaussian Blurring
    Space Scale
    construction

    Credits:
    https://www.educative.io/answers/what-is-sift
    Difference of Gaussian

    https://www.cs.ubc.ca/~lowe/papers/ijcv04.pdf
    Difference of Gaussians visualisation

    https://www.analyticsvidhya.com/blog/2019/10/detailed-guide-powerful-sift-technique-image-matching-python/
    Keypoint localization
    Key point descriptor
    Keypoint descriptor
    SIFT descriptor
    Scale Invariation
    Rotation Invariation

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