computer visioni: an overview · 2019. 10. 8. · •jacopo tani (ethz) ... one-way sign...

Computer Vision I:an overview

Credits

TheseslidesarepartoftheDuckietownproject.FormoreinformationaboutDuckietown,seethewebsitehttp://duckietown.org

Explains Prerequisites

• Whatcomputervision(CV)isandwhyitisimportant

• None

• JacopoTani(ETHZ)– October2017,October2018,October2019

• MatthewR.Walter(TTIC)- September2017

• Changhyun Choi(MIT)– February2016

SomeslidesadaptedfromAyan ChakrabartiandLanaLazebnik

ComputerVisionI

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Big Picture

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ModelingClass

Todaywetalkabouthowacamerasensestheworld

Today’sClass

ControlClassPlanningClassPerceptionClass

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Motivation for computer vision

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Onlyonboardsensorisacamera

The Board of Trustees of the London Science Museum

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Camera obscura

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Beforeyougettooexcited:folksknewaboutthisawhilebackBasicprincipleknownto Mozi (470–390BCE)and Aristotle(384–322BCE)

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What is computer vision?

Whatallows computers(robots)tomakesenseofthephysicalworldbaseduponmeasurements

ofreflectedlight

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one-waysign

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• Locateitselfintheworld• Recognizeobject• Identifyobjectproperties• Determine3Dgeometry• Identifyobject’spose• Inferringactionandmotion• Classifyingscenes• …

Howweseeanimage Howacomputerseesanimage

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Computer vision is important for self-driving cars

10https://www.youtube.com/watch?v=_dvyzAA1Cn8

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Scale ambiguity

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Scale ambiguity

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Scale ambiguity

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Illumination and surface color ambiguity

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Indirect reflection

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Indirect reflection

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In-class (appearance) variation

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Is it actually possible?

Seemslikeahopelesstask,yethumansandanimalsalldoit

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History of CV: Summer Vision Project

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• figure-groundanalysis:“divideavidisectorpictureintoregionssuchaslikelyobjects,likelybackgroundareasandchaos”

• regiondescription:“analysisofshapeandsurfaceproperties”

• objectclassification:“nameobjectsbymatchingthemwithavocabularyofknownobjects”

…allinonesummer!

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History of CV: Everyday applications

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History of CV: Everyday applications

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History of CV: Everyday applications

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History of CV: Everyday applications

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Courtesy:Mobileye

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History of CV

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History of CV

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