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Corner and Interest Point Detection
Corner and Interest Point Detection
Corner and Interest Point Detection
point detection
• Many applications require relating two or more images in order to extract
information from them.
• For example, if two successive frames in a video sequence taken from a moving
camera can be related, it is possible to extract information regarding the depth of
objects in the environment and the speed of the camera.
• The brute force method of comparing every pixel in the two images is
computationally prohibitive for the majority of applications.
• Intuitively, one can image relating two images by matching only locations in the
image that are in some way interesting.
• Such points are referred to as interest points and are located using an interest
point detector.
• Finding a relationship between images is then performed using only these points.
This drastically reduces the required computation time.
Applications of Corner Detectors
The use of interest points (and thus corner detectors) to find
corresponding points across multiple images is a key step in many
image processing and computer vision applications. Some of the most
notable examples are:
•stereo matching
•image registration (of particular importance in medical imaging)
•stitching of panoramic photographs
•object detection/recognition
•motion tracking
•robot navigation
• Local invariant features
– Detection of interest points
• (Harris corner detection)
• Scale invariant blob detection: LoG
– Description of local patches
• SIFT pipeline for invariant local features
Local invariant features
1) Detection: Identify the interest
points
3) Matching: Determine
correspondence between descriptors in
two views
x 2 [ x1( 2 ) , , xd( 2 ) ]
1. Identify a Specific Instance
• General objects
– Challenges: rotation, scale, occlusion,
localization
– Approaches
• Geometric configurations of keypoints
– Works well for planar, textured objects
1. Identify a Specific Instance
• Faces
– Typical scenario: few examples per face,
identify or verify test example
– What’s hard: changes in expression, lighting,
age, occlusion, viewpoint
– Basic approaches (all nearest neighbor)
1. Project into a new subspace (or kernel space) (e.g.,
“Eigenfaces”=PCA)
2. Measure face features
3. Make 3d face model, compare shape+appearance (e.g., AAM)
2. Detect Instance of a Category
• Much harder than specific instance
recognition
• Challenges
– Everything in instance recognition
– Intraclass variation
– Representation becomes crucial
• Template or sliding window
• Works well when
– Object fits well into rectangular window
– Interior features are discriminative
Generate Hypotheses
Score Hypotheses
Resolution
General Process of Object
Recognition
Example: Template Matching
Generate Hypotheses
Normalized X-Corr
Score Hypotheses
A1 B3
Specify Object Model A3
A2
Affine-variant B2
B1
point locations
Generate Hypotheses
Affine
Parameters
Score Hypotheses
# Inliers
I xx I xy
Hessian ( I )
I xy I yy
Iyy
Ixy
I xx I xy
Hessian ( I )
I xy I yy
Iyy
Ixy
• Second moment
Ix Iy
matrix 1. Image
derivatives
(autocorrelation 2. Square of Ix 2 Iy 2 I x Iy
matrix) derivatives
Lxx ( ) Lyy ( )
List of
(x, y, s)
Difference-of-Gaussian (DoG)
• Difference of Gaussians as approximation of the
Laplacian-of-Gaussian
- =
DoG – Efficient Computation
• Computation in Gaussian scale pyramid
Sampling with
step =2
1
Original image 2 4
Maximally Stable Extremal Regions
• Based on Watershed segmentation algorithm
• Select regions that stay stable over a large
parameter range
K. Grauman, B. Leibe
Example Results: MSER
35 K. Grauman, B. Leibe
Local Descriptors
• The ideal descriptor should be
– Robust
– Distinctive
– Compact
– Efficient
Histogram of oriented
gradients
• Captures important texture
information
• Robust to small translations /
affine deformations
K. Grauman, B. Leibe
Local Descriptors: Shape Context
Count = 4
...
Count = 10
K. Grauman, B. Leibe
Local Descriptors: Geometric Blur
Compute
edges at four
orientations
Extract a patch
in each channel
• Why choose?
– Get more points with more detectors
The probability of zero values on the first-order diffe
rence map of textured regions
– another measurement of streaking artifacts
41
Median filter based detection
42