Features
Features
Features
Feature Descriptors
Advantages of local features
Locality
• features are local, so robust to occlusion and clutter
Distinctiveness:
• can differentiate a large database of objects
Quantity
• hundreds or thousands in a single image
Efficiency
• real-time performance achievable
Generality
• exploit different types of features in different situations
More motivation…
Feature points are used for:
• Image alignment (e.g., mosaics)
• 3D reconstruction
• Motion tracking
• Object recognition
• Indexing and database retrieval
• Robot navigation
• … other
What makes a good feature?
(harmonic mean)
?
Lots of possibilities (this is a popular research area)
• simple: match square windows around the point
• state of the art (e.g.,): SIFT
– David Lowe, UBC http://www.cs.ubc.ca/~lowe/keypoints/
Rotation invariance for feature descriptors
Find dominant orientation of the image patch
• From the motion lecture, this is given by the eigenvector of
ATA corresponding to the larger eigenvalue
• Rotate the patch according to this angle
RANSAC loop:
1. Select K feature matches (at random)
2. Fit model (e.g., homography) based on these features
3. Count inliers:
— number of other features that fit the model to within some
specified threshold
4. The model with the largest number of inliers wins
5. Re-fit the model based on all of these inliers
More info:
http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/FISHER/RANSAC/
RANSAC
Lots of applications
Features are used for:
• Image alignment (e.g., mosaics)
• 3D reconstruction
• Motion tracking
• Object recognition
• Indexing and database retrieval
• Robot navigation
• … other
Autostitch (Brown and Lowe)
Fully automatic panorama generation
• Input: set of images
• Output: panorama(s)
Uses SIFT (Scale-Invariant Feature Transform) to
find/align images
http://www.cs.ubc.ca/~mbrown/autostitch/autostitch.html
Microsoft version
• part of the Digital Image Pro and Digital Image Suite
1. Solve for homography
1. Solve for homography
1. Solve for homography
2. Find connected sets of images
2. Find connected sets of images
2. Find connected sets of images
Object recognition (David Lowe)
Sony Aibo
SIFT usage:
Recognize
charging
station
Communicate
with visual
cards
Teach object
recognition
The office of the past (Kim et al.)
http://grail.cs.washington.edu/projects/office/
3D scene recovery