cpsc 425: computer visionlsigal/425_2019w2/lecture14.pdf · 2020. 3. 3. · menu for today (march...
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Lecture 14: Object Recognition, RANSAC, Hough Transform
CPSC 425: Computer Vision
!1
Image Credit: Ioannis (Yannis) Gkioulekas (CMU)
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Menu for Today (March 3, 2020)Topics:
— Object Detection — Model Fitting
Readings: — Today’s & Next Lecture: Forsyth & Ponce (2nd ed.) 10.1, 10.2
Reminders: — Assignment 3: is due today — Midterm is being graded (grades are expected next week) — Assignment 4: will be available tonight / tomorrow
— RANSAC — Hough Transform
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!3
Today’s “fun” Example: Everybody Dance Now
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!4
Today’s “fun” Example: Everybody Dance Now
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Lecture 13: Re-Cap
— We motivated SIFT for identifying locally distinct keypoints in an image (detection)
— SIFT features (description) are invariant to translation, rotation, and scale; robust to 3D pose and illumination
!5
1. Multi-scale extrema detection 2. Keypoint localization 3. Orientation assignment 4. Keypoint descriptor
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Keypoint is an image location at which a descriptor is computed — Locally distinct points — Easily localizable and identifiable
The feature descriptor summarizes the local structure around the key point — Allows us to (hopefully) unique matching of keypoints in presence of object pose variations, image and photometric deformations
Note, for repetitive structure this would still not give us unique matches.
!6
Lecture 13: Re-Cap
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!7
Lecture 13: Re-Cap
Locally non-distinct
Keypoint is an image location at which a descriptor is computed — Locally distinct points — Easily localizable and identifiable
The feature descriptor summarizes the local structure around the key point — Allows us to (hopefully) unique matching of keypoints in presence of object pose variations, image and photometric deformations
Note, for repetitive structure this would still not give us unique matches.
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!8
Lecture 13: Re-Cap
Locally non-distinct
Locally distinct Keypoint is an image location at which a descriptor is computed — Locally distinct points — Easily localizable and identifiable
The feature descriptor summarizes the local structure around the key point — Allows us to (hopefully) unique matching of keypoints in presence of object pose variations, image and photometric deformations
Note, for repetitive structure this would still not give us unique matches.
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!9
Lecture 13: Re-Cap
Locally non-distinct
Locally distinct Keypoint is an image location at which a descriptor is computed — Locally distinct points — Easily localizable and identifiable
The feature descriptor summarizes the local structure around the key point — Allows us to (hopefully) unique matching of keypoints in presence of object pose variations, image and photometric deformations
Note, for repetitive structure this would still not give us unique matches.
-
!10
Lecture 13: Re-Cap
Locally non-distinct
Locally distinct Keypoint is an image location at which a descriptor is computed — Locally distinct points — Easily localizable and identifiable
The feature descriptor summarizes the local structure around the key point — Allows us to (hopefully) unique matching of keypoints in presence of object pose variations, image and photometric deformations
Note, for repetitive structure this would still not give us unique matches.
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Lecture 13: Re-Cap
— We motivated SIFT for identifying locally distinct keypoints in an image (detection)
— SIFT features (description) are invariant to translation, rotation, and scale; robust to 3D pose and illumination
!11
1. Multi-scale extrema detection 2. Keypoint localization 3. Orientation assignment 4. Keypoint descriptor
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Four steps to SIFT feature generation:
1. Scale-space representation and local extrema detection — use DoG pyramid — 3 scales/octave, down-sample by factor of 2 each octave
2. Keypoint localization — select stable keypoints (threshold on magnitude of extremum, ratio of
principal curvatures) 3. Keypoint orientation assignment
— based on histogram of local image gradient directions 4. Keypoint descriptor
— histogram of local gradient directions — vector with 8 × (4 × 4) = 128 dim — vector normalized (to unit length)
!12
Lecture 13: Re-Cap
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Pedestrian detection
64 pixels 8 cells
7 blocks
128 pixels 16 cells
15 blocks
15 x 7 x 4 x 9 = 3780
1 cell step size visualization
Redundant representation due to overlapping blocks
Lecture 13: Histogram of Oriented Gradients (HOG)
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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4 x 4 cell gridEach cell is represented
by 4 values:
How big is the SURF descriptor?
5 x 5 sample points
Haar wavelets filters(Gaussian weighted from center)
Lecture 13: ‘Speeded’ Up Robust Features
64 dimensions
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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I(X,Y )
What types of transformations can we do?
changes domain of image function
Warping
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
I 0(X,Y )
!15
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I(X,Y )
What types of transformations can we do?
changes domain of image function
Warping
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
I 0(X,Y )
!16
We will call this “Warping” a “Model”
X 0
Y 0
�= M
XY
�
2
4X 0
Y 0
1
3
5 = M
2
4XY1
3
5
I 0(X 0, Y 0) = I(X,Y )
X 0
Y 0
�= M
XY
�
2
4X 0
Y 0
1
3
5 = M
2
4XY1
3
5
I 0(X 0, Y 0) = I(X,Y )
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I(X,Y )
What types of transformations can we do?
changes domain of image function
Warping
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
I 0(X,Y )
!17
We will call this “Warping” a “Model”
X 0
Y 0
�= M
XY
�
2
4X 0
Y 0
1
3
5 = M
2
4XY1
3
5
I 0(X 0, Y 0) = I(X,Y )
X 0
Y 0
�= M
XY
�
2
4X 0
Y 0
1
3
5 = M
2
4XY1
3
5
I 0(X 0, Y 0) = I(X,Y )
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Aside: Warping with Different Transformations
!18
Translation AffineProjective
(homography)
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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I(X,Y )
What types of transformations can we do?
changes domain of image function
Warping
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
I 0(X,Y )
!19
We will call this “Warping” a “Model”
X 0
Y 0
�= M
XY
�
2
4X 0
Y 0
1
3
5 = M
2
4XY1
3
5
I 0(X 0, Y 0) = I(X,Y )
M =
2
4m1 m2 txm3 m4 ty0 0 1
3
5
Affine “Model”
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Solution for Affine ParametersAffine transform of to
Rewrite to solve for transformation parameters:
!20
u
v
�=
m1 m2
m3 m4
� x
y
�+
t
x
t
y
�[x, y] [u, v]
(6 equations 6 unknowns)
2
6666664
x1 y1 0 0 1 00 0 x1 y1 0 1x2 y2 0 0 1 00 0 x2 y2 0 1
· · · · · ·· · · · · ·
3
7777775
2
6666664
m1
m2
m3
m4
t
x
t
y
3
7777775=
2
6666664
u1
v1
u2
v2
· · ·· · ·
3
7777775
-
!21
2
66666666664
x1 y1 0 0 1 00 0 x1 y1 0 1x2 y2 0 0 1 00 0 x2 y2 0 1
· · · · · ·· · · · · ·
x
k
y
k
0 0 1 00 0 x
k
y
k
0 1
3
77777777775
2
6666664
m1
m2
m3
m4
t
x
t
y
3
7777775=
2
66666666664
u1
v1
u2
v2
· · ·· · ·u
k
v
k
3
77777777775
[xi, yi] [ui, vi]k � 3 i = 1, 2, · · · , kSuppose we have matches, to ,
Then,
Solution for Affine Parameters
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Limitation of this …
We need to have exact matches
!22
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3D Object Recognition
Extract outlines with background subtraction
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Only 3 keypoints are needed for recognition, so extra keypoints provide robustness
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3D Object Recognition
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Recognition Under Occlusion
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Location Recognition
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SIFT Usage — Recognize charging station — Communicate with visual cards
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Example 1: Sony Aibo
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Summary of Object Recognition with SIFT
Match each keypoint independently to database of known keypoints extracted from “training” examples — use fast (approximate) nearest neighbour matching — threshold based on ratio of distances to best and to second best match
Identify clusters of (at least) 3 matches that agree on an object and a similarity pose — use generalized Hough transform
Check each cluster found by performing detailed geometric fit of affine transformation to the model — accept/reject interpretation accordingly
!28
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Limitation of this …
We need to have exact matches
!29
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Fitting a Model to Noisy Data Suppose we are fitting a line to a dataset that consists of 50% outliers
We can fit a line using two points
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If we draw pairs of points uniformly at random, what fraction of pairs will consist entirely of ‘good’ data points (inliers)?
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Fitting a Model to Noisy Data Suppose we are fitting a line to a dataset that consists of 50% outliers
We can fit a line using two points
— If we draw pairs of points uniformly at random, then about 1/4 of these pairs will consist entirely of ‘good’ data points (inliers)
— We can identify these good pairs by noticing that a large collection of other points lie close to the line fitted to the pair
— A better estimate of the line can be obtained by refitting the line to the points that lie close to the line
!31
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RANSAC (RANdom SAmple Consensus)
1. Randomly choose minimal subset of data points necessary to fit model (a sample)
2. Points within some distance threshold, t, of model are a consensus set. Size of consensus set is model’s support
3. Repeat for N samples; model with biggest support is most robust fit — Points within distance t of best model are inliers — Fit final model to all inliers
!32Slide Credit: Christopher Rasmussen
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RANSAC (RANdom SAmple Consensus)
1. Randomly choose minimal subset of data points necessary to fit model (a sample)
2. Points within some distance threshold, t, of model are a consensus set. Size of consensus set is model’s support
3. Repeat for N samples; model with biggest support is most robust fit — Points within distance t of best model are inliers — Fit final model to all inliers
!33
RANSAC is very useful for variety of applicationsSlide Credit: Christopher Rasmussen
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RANSAC (RANdom SAmple Consensus)
1. Randomly choose minimal subset of data points necessary to fit model (a sample)
2. Points within some distance threshold, t, of model are a consensus set. Size of consensus set is model’s support
3. Repeat for N samples; model with biggest support is most robust fit — Points within distance t of best model are inliers — Fit final model to all inliers
!34
Fitting a Line: 2 points
Slide Credit: Christopher Rasmussen
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Example 1: Fitting a Line
!35
Figure Credit: Hartley & Zisserman
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!36
b
da
c
Example 1: Fitting a Line
Figure Credit: Hartley & Zisserman
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!37
b
da
c
Example 1: Fitting a Line
Figure Credit: Hartley & Zisserman
tt
tt
2 points
10 points
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Algorithm 10.4
!38
RANSAC: Fitting Lines Using Random Sample Consensus
This was Algorithm 15.4 in Forsyth & Ponce (1st ed.)
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RANSAC: How many samples?Let be the fraction of inliers (i.e., points on line)
Let be the number of points needed to define hypothesis ( for a line in the plane)
Suppose samples are chosen
The probability that a single sample of points is correct (all inliers) is
!39
!
n
k
n = 2
n
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RANSAC: How many samples?Let be the fraction of inliers (i.e., points on line)
Let be the number of points needed to define hypothesis ( for a line in the plane)
Suppose samples are chosen
The probability that a single sample of points is correct (all inliers) is
The probability that all samples fail is
!40
!
!n
n
k
n = 2
n
k
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RANSAC: How many samples?Let be the fraction of inliers (i.e., points on line)
Let be the number of points needed to define hypothesis ( for a line in the plane)
Suppose samples are chosen
The probability that a single sample of points is correct (all inliers) is
The probability that all samples fail is
Choose large enough (to keep this below a target failure rate) !41
!
!n
(1� !n)k
n
k
n = 2
n
k
k
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RANSAC: k Samples Chosen (p = 0.99)
!42
Figure Credit: Hartley & Zisserman
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After RANSAC
RANSAC divides data into inliers and outliers and yields estimate computed from minimal set of inliers
Improve this initial estimate with estimation over all inliers (e.g., with standard least-squares minimization)
But this may change inliers, so alternate fitting with re-classification as inlier/outlier
!43
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!44
C DB
A
Example 2: Fitting a Line
Figure Credit: Hartley & Zisserman
4 points
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!45
Example 2: Fitting a Line
C DB
A
Figure Credit: Hartley & Zisserman
10 points
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Example 3: Automatic Matching of Images— How to get correct correspondences without human intervention? — Can be used for image stitching or automatic determination of epipolar geometry
!46 Figure Credit: Hartley & Zisserman
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Example 3: Feature Extraction— Find features in pair of images using Harris corner detector — Assumes images are roughly the same scale
!47 Figure Credit: Hartley & Zisserman
≈ 500 corner features found in each image
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Example 3: Finding Feature MatchesSelect best match over threshold within a square search window (here ±320 pixels) using SSD or (normalized) cross-correlation for small patch around the corner
!48 Figure Credit: Hartley & Zisserman
≈ 500 corner features found in each image
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Example 3: Initial Match Hypothesis
!49 Figure Credit: Hartley & Zisserman
268 matched features (over SSD threshold) superimposed on left image (pointing to locations of corresponding feature in right image)
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Example 3: Outliers & Inliers after RANSAC— n is 4 for this problem (a homography relating 2 images) — Assume up to 50% outliers — 43 samples used with t = 1.25 pixels
!50 Figure Credit: Hartley & Zisserman
117 outliers 151 inliers
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Example 3: Final Matches
!51 Figure Credit: Hartley & Zissermanfinal set of 262 matches
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Discussion of RANSAC
Advantages: — General method suited for a wide range of model fitting problems — Easy to implement and easy to calculate its failure rate
Disadvantages: — Only handles a moderate percentage of outliers without cost blowing up — Many real problems have high rate of outliers (but sometimes selective choice of random subsets can help)
The Hough transform can handle high percentage of outliers
!52
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Example: Photo Tourism
Takes as input unstructured collections of photographs and reconstructs each photo’s viewpoint and a sparse 3D model of the scene
Uses both SIFT and RANSAC
!53
Figure credit: Snavely et al. 2006
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Fitting a Model
Suppose we want to fit a model to a set of tokens
— e.g. A line fits well to a set of points. This is unlikely to be due to chance, so we represent the points as a line.
— e.g. A 3D model can be scaled, rotated and translated to closely fit a set of points or line segments. If it fits well, the object is recognized.
!54
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Fitting a Model is Difficult
Difficulties arise owing to:
Extraneous data: clutter or multiple models — We do not know what is part of the model — Can we fit models with a few parts when there is significant background clutter?
Missing data: only some parts of model are present Noise
Computational cost: — Not feasible to check all combinations of features by fitting a model to each possible subset
!55
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Hough Transform
Idea of Hough transform: — For each token vote for all models to which the token could belong — Return models that get many votes
Example: For each point, vote for all lines that could pass through it; the true lines will pass through many points and so receive many votes
!56
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Lines: Slope intercept form
!57
slope y-intercept
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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Image space
Hough Transform: Image and Parameter Space
!58
variables
parameters
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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Image space Parameter space
Hough Transform: Image and Parameter Space
!59
variables
parameters parameters
variables
a line becomes a
point
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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Image space
Hough Transform: Image and Parameter Space
!60
variables
parameters
What would a point in image space become in parameter space?
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
Image space Parameter space
Hough Transform: Lines
!61
variables
parameters parameters
variables
a point becomes a
line
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
Image space Parameter space
Hough Transform: Lines
!62
variables
parameters parameters
variables
two points?
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
Image space Parameter space
Hough Transform: Lines
!63
variables
parameters parameters
variables
two points?
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
Image space Parameter space
Hough Transform: Lines
!64
variables
parameters parameters
variables
three points?
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
Image space Parameter space
Hough Transform: Lines
!65
variables
parameters parameters
variables
three points?
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
Image space Parameter space
Hough Transform: Lines
!66
variables
parameters parameters
variables
four points?
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
Image space Parameter space
Hough Transform: Lines
!67
variables
parameters parameters
variables
four points?
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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Image space Parameter space
How would you find the best fitting line?
Hough Transform: Lines
!68 Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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Image space Parameter space
Is this method robust to measurement noise? clutter?
Hough Transform: Lines
!69 Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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Line Detection by Hough Transform
!70
Parameter Space
1 11 1
1 12
1 11 1
1 1
Algorithm:
1.Quantize Parameter Space
2.Create Accumulator Array
3.Set
4. For each image edge For each element in If lies on the line: Increment
5. Find local maxima in
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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How big does the accumulator need to be for the parameterization ?
Problems with Parametrization
!71
1 11 11 12
1 11 1
1 1
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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How big does the accumulator need to be for the parameterization ?
Problems with Parametrization
!72
1 11 11 12
1 11 1
1 1
The space of m is huge! The space of c is huge!
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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Lines: Slope intercept form
!73
slope y-intercept
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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Lines: Normal form
!74
x sin ✓ � y cos ✓ + r = 0
0 ✓ 2⇡
x sin ✓ � y cos ✓ = ⇢
r � 0
Book’s convention
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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!75Image space Parameter space
variables
parameters
a point becomes?
x sin ✓ � y cos ✓ = ⇢
parameters
variables
Hough Transform: Lines
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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!76Image space Parameter space
variables
parameters
a point becomes a wave
x sin ✓ � y cos ✓ = ⇢
parameters
variables
Hough Transform: Lines
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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!77Image space Parameter space
variables
parameters
a line becomes?
x sin ✓ � y cos ✓ = ⇢
parameters
variables
Hough Transform: Lines
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
!78Image space Parameter space
variables
parameters
a line becomes a point
x sin ✓ � y cos ✓ = ⇢
parameters
variables
Hough Transform: Lines
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
!79Image space Parameter space
variables
parameters
a line becomes?
x sin ✓ � y cos ✓ = ⇢
parameters
variables
Hough Transform: Lines
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
!80Image space Parameter space
variables
parameters
a line becomes a point
x sin ✓ � y cos ✓ = ⇢
parameters
variables
Hough Transform: Lines
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
!81Image space Parameter space
variables
parameters
a line becomes a point
x sin ✓ � y cos ✓ = ⇢
parameters
variables
Hough Transform: Lines
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
!82Image space Parameter space
variables
parameters
two points become?
x sin ✓ � y cos ✓ = ⇢
parameters
variables
Hough Transform: Lines
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
!83Image space Parameter space
variables
parameters
three points become?
x sin ✓ � y cos ✓ = ⇢
parameters
variables
Hough Transform: Lines
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
!84Image space Parameter space
variables
parameters
four points become?
x sin ✓ � y cos ✓ = ⇢
parameters
variables
Hough Transform: Lines
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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Hough Transform for Lines (switching to books notation)Idea: Each point votes for the lines that pass through it
— A line is the set of points, , such that
— Different choices of give different lines x sin ✓ � y cos ✓ + r = 0
(x, y)
✓, r
-
Idea: Each point votes for the lines that pass through it
— A line is the set of points, , such that
— Different choices of give different lines
— For any there is a one parameter family of lines through this point. Just let be constants and for each value of the value of will be determined
— Each point enters votes for each line in the family
— If there is a line that has lots of votes, that will be the line passing near the points that voted for it
!86
x sin ✓ � y cos ✓ + r = 0
(x, y)
✓ r(x, y)
(x, y)
✓, r
Hough Transform for Lines (switching to books notation)
-
Example: Hough Transform for Lines
!87
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
-
Example: Hough Transform for Lines
!88
�5 sin(5�)� 3 cos(5�) + r = 0 => r = 3.42
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
-
Example: Hough Transform for Lines
!89
�5 sin(5�)� 3 cos(5�) + r = 0 => r = 3.42
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
1
-
Example: Hough Transform for Lines
!90
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
1
�5 sin(5�)� 3 cos(5�) + r = 0 => r = 3.42�5 sin(15�)� 3 cos(15�) + r = 0 => r = 4.18
-
Example: Hough Transform for Lines
!91
�5 sin(5�)� 3 cos(5�) + r = 0 => r = 3.42
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
�5 sin(15�)� 3 cos(15�) + r = 0 => r = 4.18
1
1
-
Example: Hough Transform for Lines
!92
�5 sin(5�)� 3 cos(5�) + r = 0 => r = 3.42
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
�5 sin(15�)� 3 cos(15�) + r = 0 => r = 4.18
1
1
�5 sin(25�)� 3 cos(25�) + r = 0 => r = 4.83
-
Example: Hough Transform for Lines
!93
�5 sin(5�)� 3 cos(5�) + r = 0 => r = 3.42
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
�5 sin(15�)� 3 cos(15�) + r = 0 => r = 4.18
1
1
�5 sin(25�)� 3 cos(25�) + r = 0 => r = 4.83
1
-
Example: Hough Transform for Lines
!94
�5 sin(5�)� 3 cos(5�) + r = 0 => r = 3.42
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
�5 sin(15�)� 3 cos(15�) + r = 0 => r = 4.18
1
1
�5 sin(25�)� 3 cos(25�) + r = 0 => r = 4.83
1
�2 sin(5�)� 3.3 cos(5�) + r = 0 => r = 3.46
-
Example: Hough Transform for Lines
!95
�5 sin(5�)� 3 cos(5�) + r = 0 => r = 3.42
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
�5 sin(15�)� 3 cos(15�) + r = 0 => r = 4.18
1
1
�5 sin(25�)� 3 cos(25�) + r = 0 => r = 4.83
1
�2 sin(5�)� 3.3 cos(5�) + r = 0 => r = 3.46
2
-
Example: Hough Transform for Lines
!96
�5 sin(5�)� 3 cos(5�) + r = 0 => r = 3.42
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
�5 sin(15�)� 3 cos(15�) + r = 0 => r = 4.18
1
1
�5 sin(25�)� 3 cos(25�) + r = 0 => r = 4.83
1
�2 sin(5�)� 3.3 cos(5�) + r = 0 => r = 3.46
2
�2 sin(15�)� 3.3 cos(15�) + r = 0 => r = 3.71
-
Example: Hough Transform for Lines
!97
�5 sin(5�)� 3 cos(5�) + r = 0 => r = 3.42
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
�5 sin(15�)� 3 cos(15�) + r = 0 => r = 4.18
1
1
�5 sin(25�)� 3 cos(25�) + r = 0 => r = 4.83
1
�2 sin(5�)� 3.3 cos(5�) + r = 0 => r = 3.46
2
�2 sin(15�)� 3.3 cos(15�) + r = 0 => r = 3.71
1
-
Example: Hough Transform for Lines
!98
�5 sin(5�)� 3 cos(5�) + r = 0 => r = 3.42
33.54
4.55
0 10 20 30 40 …
……
(-5,3)
(-2,3.3)
�5 sin(15�)� 3 cos(15�) + r = 0 => r = 4.18
1
1
�5 sin(25�)� 3 cos(25�) + r = 0 => r = 4.83
1
�2 sin(5�)� 3.3 cos(5�) + r = 0 => r = 3.46
2
�2 sin(15�)� 3.3 cos(15�) + r = 0 => r = 3.71
1
-
Example: Clean Data
!99
VotesTokens Horizontal axis is θ
Vertical Axis is rForsyth & Ponce (2nd ed.) Figure 10.1 (Top)
-
Example: Some Noise
!100
VotesTokens Horizontal axis is θ
Vertical Axis is rForsyth & Ponce (2nd ed.) Figure 10.1 (Bottom)
-
Example: Too Much Noise
!101
VotesTokens Horizontal axis is θ
Vertical Axis is rForsyth & Ponce (2nd ed.) Figure 10.2
-
!102
Real World Example
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
-
Real World Example
!103
Original Edges Hough LinesParameter space
Slide Credit: Ioannis (Yannis) Gkioulekas (CMU)
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