“secret” of object detection

“Secret” of Object DetectionZheng Wu

(Summer intern in MSRNE)Sep. 3, 2010

Joint work with Ce Liu (MSRNE)

William T. Freeman (MIT)Adam Kalai (MSRNE)Jianxiong Xiao (MIT)

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motorbike

person

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Outline IntroductionSliding-Window-based Object Detection

Window GenerationFeature ExtractionCascade Classifier

PASCAL ChallengeConclusion

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Related Topic Image Matching

Image Classification

Object Detection

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Object Detection

• Single Pattern • Multiple Patterns

5

Viola & Jones Face Detector

Dalal & Triggs Pedestrian Detector

Felzenszwalb’s Part-based Detector

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Outline IntroductionSliding-Window-based Object Detection

Window GenerationFeature ExtractionCascade Classifier

PASCAL ChallengeConclusion

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Sliding Windows

Search over:• Location• Scale• Aspect Ratio

Millions of windows!

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Sliding Windows Subsample on grid

- have to set “optimal” step size manually Fix Aspect Ratio

- assume single pattern detection Fix Scale

- assume object’s resolution does not change much between training and test sets.

Search with branch-and-bound method- have to use special scoring function

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Sliding Windows We propose sliding windows from segmentation

Superpixel Segmentation[Levinshtein et al, PAMI09]

Region Segmentation[Felzenszwalb & Huttenlocher, IJCV03]

< 100,000 sliding windows / image on PASCAL Dataset

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Outline IntroductionSliding-Window-based Object Detection

Window GenerationFeature ExtractionCascade Classifier

PASCAL ChallengeConclusion

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Generic Feature “Objectness” features [Alexe et al, CVPR10]

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Generic Feature Each type of generic feature is weak, but

combination is stronger Low dimensional feature (=8) Not suitable for objects with “concave” shape, i.e.

table, chair

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Generic Feature

aerop

lane

bicyc

le bird

boat

bottle bu

s car

cat

chair co

w

dining

table do

gho

rse

motorbi

ke

perso

n

potte

dplan

t

shee

pso

fatra

in

tvmon

itor

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1re

call

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Class-specific Feature Histogram of Orientated Gradients

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Class-specific Feature Dense grid (>10*10) (secret 1) Overlapping cells Histogram bin size High dimensional feature (>1000)

- redundant or overfitting? Normalization No spatial relationship maintained

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Outline IntroductionSliding-Window-based Object Detection

Window GenerationFeature ExtractionCascade Classifier

PASCAL ChallengeConclusion

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Cascade Classifier Same type of classifier with different features

Viola & Jones Face Detector, IJCV01 Different types of classifier with same features

Harzallah et al, ICCV09 (INRIA) Vedaldi et al, ICCV09 (Oxford)

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Cascade Classifier Training SVM is slow…

to train 20,000 examples with 4000 dimensions:>15min for Linear SVM

>3 hours for Nonlinear SVM Training SVM requires a lot of memory…

design matrix: 20,000*20,000 matrix Training with Imbalance data a few hundreds of positive examples billions of negative examples

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Boosted SVM

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42327 examples, half for training, half for testing Training error is 0.05 for all boosted classifiers

Boosted SVM

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Positive Training Set

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Negative Training Set

Random Samples

SVM ver. 1

Training Sample Pool

False Positives

SVM ver. 2

… … Secret 2

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Outline IntroductionSliding-Window-based Object Detection

Window GenerationFeature ExtractionCascade Classifier

PASCAL ChallengeConclusion

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PASCAL Dataset 2009

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PASCAL Dataset 2009

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PASCAL Dataset 2009

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PASCAL Dataset 2009

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PASCAL Dataset 2009

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PASCAL Dataset 2009

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PASCAL Dataset 2009

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PASCAL Dataset 2009

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PASCAL 2009 (trainval + test)

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PASCAL 2009 (train+val)

aeroplane bicycle bus car horse motorbike train tvmonitor0

5

10

15

20

25

Aver

age

Prec

isio

n

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PASCAL 2009 (train+val,1/image)

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PASCAL 2009 (train+val,5/image)

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PASCAL 2009 (train+val,10/image)

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True Positives - aeroplane

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False Positives - aeroplane

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True Positives - bicycle

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False Positives - bicycle

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True Positives - horse

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False Positives - horse

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Conclusion Proposing sliding windows without fixing scale or

aspect ratio is possible. Simple feature (saliency, contrast, etc) is only

useful for certain object classes. Histogram-based feature is not sufficient to

represent real world object, no matter what learning algorithm is used.

Boosting is helpful to speed up SVM-training and reduce the memory usage.

Digging out “hard” negative examples. Throwing away “hard” positive examples.

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Future Work It is time to go beyond the histogram-of-X feature

- not every pixel within bounding box is informative - the appearance of object’s part is more robust

Evolve the classifier- even PASCAL dataset is too small

- the right decision boundary is still far away… - Active learning? Online learning?

Thank You !

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