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PANORAMA PHT HIN NHNG IM NH GING NHAU TRONG MT TP NH CNG CH S DNG HARRIS CORNER DETECTOR

H: Hon chnh - Lp: 11HCA 1. Danh sch thnh vin

1141307 : Th Ngc nh 1141326 : Nguyn Xun Dng 1141335 : Nguyn Tin t 1141404 : Nguyn Vn Ngc 1141143: on Th Thy 1141453 : Hunh Thanh Ton 1141460 : V Minh Tr 1141439 : n Vnh Tn 1141450 : Trn Khoa Th 1141378 : L Tun Kit 1141488 : Th Hng Yn

2. Gii thiu tng quan: Ng cnh ra i bi ton: Thut ton ny c pht trin bi Chris Harris vMike Stephens vo nm 1988 . L mt bc x l thp gip tm kim xy dng mi trng ca robot c bn da trn nh tun t . c bit h cn quan tm n s dng k thut phn tch di chuyn gii thch cho mi trng da vo t camera in thoi n. Ging vi Moravec, h cn mt phng thc tng ng nhng im tng tng trong khung nh lin tip, nhng ng c quan tm hn l theo vt c gc v cnh gia cc khung . Harris corner detector l mt b my d tm im c trng ph bin nht.

B d gc Harris c l l b d c trch dn v dng ph bin nht trong cc b d im c trng . B d ny thng c dng nh b d chun so snh vi cc b d mi xut. B d Harris thc thi da trn hm t tng quan cc b (local auto-correlation function), biu din bi ma trn . Tm hiu v gii quyt r vn bi ton, s c ng dng trong nhiu lnh vc nhn dng ging ni (stereo matching), ghp nh ha panorama, theo di di chuyn, pht hin hay nhn dng i tng , iu khin robot.. III. i tng nghin cu .
1. Khi nim v nh ngha : a. Gc (corner). + Corner Points : Basic Idea. + Appearance Change in Neighborhood of a Patch. b. Nh th no xy dng nn bc tranh ton cnh (Panorama). c. Harris Corner Detection. 2. u vo, u ra ca bi ton : + u vo : l mt tp cc bc nh. + u ra : l mt nh hon chnh c ghp trn t cc bc nh. 3. Cc c im v thuc tnh ca bi ton :b d gc Harris d cc gc ni xy ra cc thay i gradient trong hai hng. - Rotation invariance : hng ca gradient khng nh hng n qu trnh d nn b d c tnh bt bin quay . - Partial invariance to affine intensity change : mt phn bt bin i vi thay i mt c lin quan. - Non invariant to image scale : Khng thay i i vi nh scale . - Quality of Harris detector for different scale changes : S lng pht hin Harris cho s thay i t l khc bit. 4. Cc kh khn v thch thc: Gii hn trong kh nng tnh ton da trn php ton o hm trong nh nn mnh

v c im bt bin quay ca i tng trong nh nhng khng bt bin v thay i t l kch thc (scale).

5. Cc rng buc (phn cng, phn mm): 6. Mi lin h vi cc i tng hoc lnh vc khc . IV. Cc cng trnh lin quan . tng chnh : C bn da trn vic pht hin s thay i mt ca nh xung quanh mt im s dng ma trn tng quan t ng (auto correlation matrix). 1. Nhn dng khun mt : a. tng (Eigenface). - Khun mt c nh trng s kt hp cc thnh phn li hoc nhng khun mt c s. - Nhng khun mt c s c gi l eigenfaces. b. Khun mt tiu biu Face Representation . - Nhng khun mt c s c th khc nhau v trng s th hin bt k khun mt no. -> V th ta c th s dng vector v trng s i din cho nhng khun mt khc nhau. - Hc Eigenfaces bng cch ly mt tp hun luyn khun mt tht sau hc mt tp khun mt c s m gia chng c s khc bit r rng nht . - S dng mu tiu chun v lu tr mi khun mt vi trng s mt c s .C 2 cch lu tr : 1) lu tr v sau ti hin li khun mt t tp trng s. 2) nhn dng mt bc tranh mi ca mt tp cc khun mt.

2. Highly Parallel Implementation of Harris Corner Detector on CSX SIMD Architecture ng dng : Low Power, Light Weight, Vision Supercomputer for Mobile Robots ng dng tp trung s dng : Harris Corner Detector :Bi ton tp trung ng dng m rng c trng nh : m rng c trng nh gc, cnh, hoc im trong nh.

Harris Corner Detector(HCD ) implementation on CSX : Communication steps : + Bc 1 : Tnh o hm(derivatives) ca I(..,..) , Ix v Iy .

+ Bc 2 : Tnh chun Harris : D liu cc b v d liu t gc k PEs bng vic s dng ng swazzling . + Bc 3 : tnh gi tr ngng d liu cc b (local data). - u im : Rt nhanh bc u tin trong nhiu ng dng x l hnh nh v tnh ton rng. Tiu th in nng thp ph hp cho cc ng dng nhng.
V. Ni dung thc hin : Mc tiu ca ti ny l s dng cc k thut pha trn hnh nh t mt tp nh thnh mt hnh nh . Chng ta s thc hin k thut Harris Corner Detection . a. Phng php chung : - Xy dng hai tp nh A v B. - Tnh gc response R.

- Tm im c gc response R ln > ngng bt u. - Ch ly nhng im ca nhng v tr ln nht ca R.

b. Harris Corner Detection Algorithm. - Tnh x v y t nh gc. - Tnh tch s ca mi pixel gc. - Tnh cc tng ca tch s ca mi pixel. - Xc nh ma trn mi pixel(x,y). - Tnh kt qu (response) ca d tm mi pixel. - Ngng khi u da vo gi tr R. Tnh nonmax suppression. 6. K hoch d kin . Giai on tm v vit cng n. Nhm 1: tm hiu ti 1 Gm : nh, Tn,Thy,Kit,Yn . Nhm 2 : tm hiu ti 2 Gm : Dng, Tan,Ngc,Tr,Th,t . Giai on chn c ti : - c tt c ti liu trc tm c : ton b thnh vin. - Vit bo co ,s chia tng phn c th sau : gm nh, Tn,Thy,Ton. - To slide : Kit, Yn,Th. - Vit demo : Dng,Tr, Ngc, t

TI LIU THAM KHO Wikipedia.org Matching with Invariant Features ,Darya Frolova,Denis Simakov , the Weizmann Institute of Science ,March 2004. C.Harris, M.Stephens. A Combine Corner and Edge Detector. 1988 Highly Parallel Implementation of Harris Corner Detector on CSX SIMD Architecture Tele Robotics and Applications Department Italian Institute of Technology Genoa, Italy