gojan keypoints

Upload: ikenna77ike77achebe

Post on 03-Jun-2018

237 views

Category:

Documents


0 download

TRANSCRIPT

  • 8/11/2019 Gojan keypoints

    1/36

    "#$% &

    !"#$% "'%( ) *+, !"#$% "'%( -./0123 45645, 478/96

    '15 :7;82545

  • 8/11/2019 Gojan keypoints

    2/36

    "#$% '

    "#$%& &'())* +,-. -. /,0 1)%2 345503/-46 47 ,-8,59 /0./0: "#$%& #/0; < =6:"#$%& #/0; > /4;-3. 5-./0: -6 /=?50. 74@ 0=.9 @0A-0BC +,0.0 DE&FG%#D B-55 =;;0=@ 46 94H@ ?4=@:. 0I=J.K

    2-.0=.0.

    F::-.46D. 2-.0=.0 C E0@6-3-4H. =60J-= L=6/-?4:-0. /4 -6/@-6.-3 7=3/4@ 4@ ;=@-0/=5 3055. !"MN !"O-/ (!J08=54?5=./-3 =60J-=P

    F5?@-8,/D. #96:@4J0 QC E4594./4/-3 7-?@4H. :9.;5=.-=R ;@0343-4H. ;H?0@/9R 3=7S =H 5=-/ .;4/.R .,4@/ ./=/H@0R 94H68 8-@5.

    F5;4@/D. #96:@4J0 TC U0@0:-/=@9 60;,@-/-. B-/, 60@A0 :0=760..

    F5V,0-J0@D. WC E@[email protected] :0J06/-=

    F@8955'G4?0@/.46 EH;-5 XC %4.. 47 5-8,/ @0750I 346./@-3/-46 L346/@=5=/0@=5 4@ ?-5=/0@=5PYC ZE@4./-/H/0D. &90[ \ =334JJ4:=/0. ?H/ :40. 64/ @0=3/

    ]C E=/,4864J46-3 74@ Q#9;,-5-.^C %0.-46 ;@0/03/=5 @08-46 47 .H;0@-4@ 3455-3H5H.

    F@645:'_,-=@- $=574@J=/-46 `C G03H@@0630. 47 @-3b0//.-= ;@4B=V=b- H; /4 W 9@. 5=/0@

    (@-lH0/D. #96:@4J0 >>C E.93,4548-3=5m JH5/-;50 ;,9.-3=5 34J;5=-6/. B-/,4H/ ;,9.-3=5 ;=/,45489

    (@43=D. F;,=.-= >QC $4/4@ F;,=.-= L=@0= TT e TWP -6/=3/ 34J;@0,06.-46

    (@4B6'#0lH=@: >TC U0J-.03/-46 47 34@: L346/@=5=/0@=5 54.. 47 ;=-6 e /0J; h -;.-5=/0@=5 54.. 47 7-60 /4H3,R "$c h -;.- 54.. 47 346.3C E@4;@-4P

    (@H/46D. 2-.0=.0 >WC n'5-6b0: =8=JJ=854?-60J-= L"

    ( 3055.P(H::'_,-=@- >XC E4./',0;=/-3 A064H. /,@4J?4.-. a =? ;=-6d ,0;=/4J08=59d =.3-/0.d ;4@/=5 U+cd 5-A0@ 7=-5H@0

    (H0@80@D. 2-.0=.0 >YC F3H/0 -675=JJ=/-46 47 J0:-HJ =6: .J=55 =@/0@-0. 47 0I/@0J-/-0.!;=-67H5 -.3,0J-= !8=68@060>]C #006 =5J4./ 0I35H.-A059 -6 94H68 =6: J-::50'=80: J06 B,4 .J4b0C

    (H@b-//D. %9J;,4J= >^C ";*22 +7+925*>5, 9522 23;817;* &(OQ`C ]m)d ,9;4b=50J-= L3=H.-68 =5b=54.-.Pd "@06-6

    _4@-D. 2-.0=.0 Q]C +9;0 MMM 159348064.-. \ 15934806 ./4@=80 :-.0=.0 L:0?@=63,-68 06Vm =J954 /4 #F_+U 7@4J ;-/H-/=@9 L?=.4;,-5-3 =:064J=PT]C #96:@4J0m ,9;0@34@/-3-.J 47 =55 4/,0@ 3=H.0. L

  • 8/11/2019 Gojan keypoints

    3/36

    "#$% (

    _H.,-68D. "530@ W`C F3H/0 8=./@-3 H530@ =..43-=/0: B-/, _c# /@=HJ=

    :0 iH0@A=-6D. +,9@4-:-/-. W< 4@ /@=6.543=/-46 \ #-J-=6 _@0=.0

    [email protected]@D. #96:@4J0 WXC E4./'$M N-?@-64H. E0@-3=@:-/-. =H/4-JJH60

    2H?-6'q4,6.46 #96:@4J0 WYC _46806-/=5 ,9;0@?-5-@H?-60J-= L346oH8=/0:P a ?-5-@H?-6 /@=6.;4.@/ -. :0703/-A0 64/ 346oH8=/-46W]C #/@-b-68 ?@4B6'/4'?5=3b :-.3454@=/-46 47 /,0 5-A0@

    2H3,0660 $H.3H5=@ 29./@4;,9 W^C 207-3-0639 47 :9./@4;,-6 ;@4/0-6 !$2 n'5-6b0: @030..-A0&:B=@:.D #96:@4J0 X`C [email protected] /4 50=: ;4-.46-68 4@ +0/@=3935-60 L85934.H@-=R,9;0@;,4.;,=/H@-=R =J-64=3-:H@-=R .9./0J-3 =3-:4.-.P

    N05/9D. #96:@4J0 X]C G,0HJ=/4-: =@/,@-/-.R 60H/@4;06-=R .;5064J08=59

    1=@:60@D. #96:@4J0 X^C F2 a =:064J=/4H. ;459;. 47 34546R 4./04J=. e .47/ /-..H0 /HJ4@.

    1=H3,0@D. 2-.0=.0 Y`C %9.4.4J=5 #/4@=80 2-.0=.0 85H3430@[email protected]:=.0 :07-3-0639 \ 85H3430@[email protected]:0 =33HJH5=/-46YC (06-86 346806-/=5 ,9;0@?-5-@H?-60J-= LH6346oH8=/0:P a ": 85H3H@4695 /@=6.70@=.0 =3/-A-/9

    15=6VJ=66D. +,@4J?=./,06-= YQC 20703/-A0 85934;@4/0-6. 46 ;5=/050/. a :07-3-06/ ;5=/050/ =88@08=/-46

    144:;=./H@0D. YTC FH/4-JJH60m =?D. /4 854J0@H5=@ e =5A045=@ ?=.0J06/ J0J?@=60.C #006 -6 J06 -6 /,0-@ >`D.

    1@=A0D. 2-.0=.0 YWC FH/4-JJH60 ,9;0@/,9@4-:-.J L+#MPm M81 F? @0=3/-A0 Bh +#U @030;/[email protected] %4B +#U e +GU \ U-8, +Q h +T

    1H-55=-6'(=@@0 YXC E45960H@-/-. 74554B-68 A-@=5 -6703/-46h =H/4-JJH60 L=.306:-68 JH.350 B0=b60.. e ;=@=59.-.d H.H=559 .057'5-J-/-68P

    U=JJ=6'G-3, #96:@4J0 YYC M:-4;=/,-3 ;H5J46=@9 [email protected] _=6 .00 ,4609 34J? 5H68C

    U=6:'#3,H550@'_,@-./-=6 Y]C _,@46-3 ;@[email protected] ,-./-439/4.-.

    U=.,-J4/4D. +,9@4-:-/-. Y^C FH/4-JJH60 ,9;4/,9@4-:-.JC $=9 ,=A0 /@=6.-06/ ,9;0@/,9@4-:-.JC %4B +Q h+T e U-8, +#U

    U=.,-/4I-34.-. ]`C M6-/-=5 ,9;0@/,9@4-:-.J -6 U=.,-J4/4D. +,9@4-:-/-. /,=/ ;@030:0. ,9;4/,9@4-:-.J

    U0643,'#3,4650-6 ;H@;H@= ]C U0JJ4@,=8-3 H@/-3=@-= LB-/, 70A0@R =@/,@=58-=.R 1M e @06=5 -6A45A0J06/P]QC F..43-=/0: B-/, H;;0@ @0.;-@=/4@9 -6703/-46.

    [email protected],;@H68D. 2-.0=.0 ]TC F8=685-46-3 J08=34546

    U4@60@D. #96:@4J0 ]WC E/4.-.R J-4.-.R =6,-:@4.-. L50.-46 47 30@A-3=5 .9J;=/,0/-3 60@A0. 47/06 >/4 = E=634=./ /HJ4@P

    UH6/-68/46D. L_,@4J4.4J0 TP ]XC F2m E@[email protected] :08060@=/-46 47 3=H:=/0 6H350H.R ;H/=J06 L./@-=/HJP e 7@46/=5 34@/0I "1F(F

    q=3b.46-=6 #0-VH@0. ]YC &;-50;/-3 0A06/. 4@-8-6=/-68 -6 /,0 ;@-J=@9 J4/4@ 34@/0I L=@0= TP

    q4?D. #96:@4J0 C 20703/-A0 60H/@4;,-5-3 3,0J4/=3/-3 @0.;46.0 a @0;0=/0: -6703/-46.

    QC _4JJ4659 .006 -6 5-8,/'.b-660:R @0:',=-@0: 8-@5.]]C #D: M8& 50A05.

    *=;4.- #=@34J= ]^C $=5-86=6/ A=.3H5=@ /HJ4@ LUUO] -6 ,4J4.0IH=5 J06P

    *=@/=8060@D. #96:@4J0 ^`C MJJ4/-50 3-5-= >/4 :0703/-A0 :960-6 =@J. -6703/-46R .-/H. [email protected] ./0@-5-/9

    *=B=.=b- 2-.0=.0 ^C TYR nnsm %468 [email protected] #/0@-50R U9;4846=:-.J

    *5HA0@'(H39 ^QC (-5=/0@=5 50.-46. 47 =J98:=5= L,9;[email protected]=5-/9d 4@=5 ?0,=A-4@P

    *@Hb06?0@8 +HJ4@ ^TC F:0643=@3-64J= B-/, .-860/'@-68 3055. L/9;-3=559 4@-8-6=/-68 7@4J /,0 ./4J=3,P J0/=./=.0. /4^WC /,0 4A=@-0.

    %=06603D. _-@@,4.-. ^XC F534,45-3 3-@@,4.-.

    %0.3,'c9,=6 ^YC U1EG+ :07-3-0639^]C 14H/R @0/=@:=/-46R .057'JH/-5=/-46

    %0//0@0@'#-B0 ^^C F3H/0 :-..0J-6=/0: %=680@,=6.D 3055 ,-./-439/4.-.

    %-?J=6'#=3b.

  • 8/11/2019 Gojan keypoints

    4/36

    "#$% )

    %4H 10,@-8D. C FJ94/@4;,-3 %=/0@=5 #[email protected]. :08060@=/-46 47 H;;0@ e 54B0@ J4/4@ 60H@46.

    $=554@9'f0-. #96:@4J0 /4 B@0/3,-68 L=534,45-3.P

    $=@7=6D. YR ;459=@/-3H5=@

    G090D. #96:@4J0 C [email protected]=@ 7=//9 5-A0@ 3,=680 e 0630;,=54;=/,9/4 =.;-@-6 -680./-46 -6 3,-5:@06 74554B-68 A-@=5 -5560..R 0.;03-=559 OkO

    G-0:05D. +,9@4-:-/-.

  • 8/11/2019 Gojan keypoints

    5/36

    "#$% *

    O-6306/D. M6703/-46

  • 8/11/2019 Gojan keypoints

    6/36

    "#$% +

    (44/'#,=;0: U0=@/ >`^C +0/@=5489 47 N=554/

    (4H3,=@:D. c4:0. >>>>C &6:4J0/@-4.-.

    _,A4./0bD. #-86 >>QC U9;43=530J-= 7=3-=5 .;=.J -6 /0/=69

    _5H0 _055. >>TC 1=@:60@055= A=8-6-/-.

    _4:J=6D. +@-=6850 >>WC )./04.=@34J=

    _45: F885H/-6-6. >>XC $934;5=.J= ;60HJ46-=0>>YC M6703/-4H. J4646H3504.-.

    _46:954J= %=/= >>]C >#9;,-5-.

    >>^C c0B 347700 75=A4@ =/ (=805 e (=805_4//46 f445 #;4/. >Q`C U+c>QQ>C 29-68 ,0;=/439/0. \ U0;(

    [email protected]/. M6 (4BJ=6D. _=;.H50 >QQC G=;-:59 ;@[email protected] [email protected]/-3 854J0@H5460;,@-/-.P

    _H@@=6/'q0559 #;H/HJ >QTC *50?.-055=

    [email protected],J=66D. #;-@=5. >QWC (@463,-=5 =./,J=

    20;-8J06/=/-46 )7 #H?./=6/-= c-8@= >QXC [email protected].

    2464A=6 (4:-0. >QYC 1@=6H54J= -68H-6=50 L#+2P

    &?H@6=/-46 >Q]C )./04=@/,@-/-. L;45-.,0:R -A4@9'5-b0 =;;0=@=630 47 ?460P

    &3/4;-= %06/-. >Q^C $=@7=6D.

    &@9/,0J= _,@46-3HJ $-8@=6. >T`C %9J0 2-.0=.0

    N=//9 %-A0@ >TT>C F.?0./4.-. ' e M@46 5=:06

    1,46 N43H. h _4J;50I >TQC [email protected]. LR @0.;03/-A059P

    15-//0@ _055. >TTC F3H/0 E905460;,@-/-.

    14B0@D. $=60HA0@ >TWC 2H3,0660D. $2 H.0 47 =@J. /4 ./=6:

    U0?0@:06D. c4:0. >TXC )./04=@/,@-/-. L2-./=5 ME o4-6/ 47 /,0 [email protected]

    U0-6V (4:-0. >TYC 1XE2U 207-3-0639

    U0/0@4;,-5 F6/-?4:-0. >T]C M6703/-4H. J4646H3504.-. L&(OP

    U-@=64 (4:-0. >T^C F5V,0-J0@D.

    U9;[email protected]/0: E$c. >W`C $08=54?5=./-3 =60J-=

    U9;43,@4J-3 $-3@439/-3 G(_. >WW>C #9;,-5-. 4A0@'[email protected] /@0=/J06/ 47 =6 =.9J;/4J=/-3 ;/C /,=/ 3=H.0. .9J;/4J. >/4 @=;-: 59.-.

    q4-6/ $-30 >WQC )./04=@/,@-/-. L7@=3/H@0: 4./04;,9/0.P

    *=H..J=H5 (@0=/,-68 >WTC F3-:4.-. h E/*D54/9*0/4=3-:4.-.

    *0@=/-6 E0=@5. >WWC #lH=J4H. _055 _F 47 .b-6 F3/-6-3 *0@=/4.-. -. = ;@[email protected]@

    *09.0@'N50-.3,0@ G-68 >WXC f-5.46D.

    *-JJ05./-05'f-5.46 c4:H50. >WYC 2-=?0/-3 60;,@4;=/,9m c4:H5=@ [email protected]@4.-. 64:H50. 47 J0.=68-=5 J=/@-I

    *4-5439/0. >W]C UEO X e

  • 8/11/2019 Gojan keypoints

    7/36

    "#$% ,

    %HJ;9'(HJ;9 MN 154J0@H5- >XQC E4././@0;/43433=5 854J0@H5460;,@-/-. \ ;@4/4/9;0 47 60;,@-/-3 .96:@4J0

    $=554@9 (4:-0. >XTC F534,45-3 ,0;=/-/-.

    $3(H@609D. #-86 >XWC F;;06:-3-/-. L$3(H@609D. E4-6/ -. >hQ 47 /,0 B=9 7@4J /,0 HJ?-5-3H. /4 =6/0@-4@ .H;0@-4@ -5-=3 .;-60P

    $-3,0=5-.'1H/J=66 (4:-0. >XXC $=5=b4;5=b-= 50.-46 46 ?5=::0@ :H0 /4 J=3@4. e 3=534.;,0@-/0. L$'1 (4:-0.Pm H.H=559 :H0 /4 &C _45-

    $4643546=5 F6/-?4:9 #;-b0 >XYC $H5/-;50 J9054J= /,-. -. 3=550: /,0 $ ;@4/0-6 LH.H=559 M81 4@ M8FP>X]C $1"#

    $9I0:0J= >X^C U9;4/,9@4-:-.J

    c08@- (4:-0. >Y`C G=?-0.

    c0H@-/-3 E5=lH0.>YY>C F5V,0-J0@D.

    c46';-//-68 &:0J= >YQC $9I0:0J=>YTC F6/,@=I +4I-6

    c4/3,-68 47 G-?. >YWC _4=@3/=/-46 47 F4@/=

    cH/J08 %-A0@ >YXC _UN a 3=H.-68 34680./0: 5-A0@

    )B5. &90 _055. >YYC _$O>Y]C G00: #/0@6?H@8 _055. LU4:b-6. %9J;,4J=P>Y^C F.3,477 3055. .006 Bh G,0HJ=/-3 N0A0@

    E=-650.. q=H6:-30 >]`C E=63@0=/-3 _F L,0=:P

    E=66H. >]

  • 8/11/2019 Gojan keypoints

    8/36

    "#$% -

    +06:-64H. n=6/,4J=. Q>`C N=J-5-=5 U9;0@3,450./0@450J-=

    +,9@4-:-V=/-46 47 *-:609 Q>>C 14H/

    +@=J'+@=3b 154J0@H5- Q>QC $0J?@=64;@45-70@=/-A0 1cm c0;,@-/-3 .96:@4J0 \ ?=.0J06/ J0J?@=60 -. :H;5-3=/0: -6/4 > 5=90@.

    [email protected]=HD. #-86 Q>TC O-.30@=5 3=R 35=..-3=559 ;=63@0=/-3 LJ-8@=/4@9 /,@4J?4;,50?-/-.PQ>WC U9;43=530J-= L3=@;=5 .;=.JPQ>XC +,0.0 =@0 /B4 06/-@059 :-770@06/ :-.0=.0 ;@430..0. =6: :-770@06/ .-86.R ?H/ /,09 H674@/H6=/059 ,=A0 /,0 .=J0

    6=J0C

    O-@3,4BD. c4:0 Q>YC #H;@=35=A-3H5=@ 64:0 065=@80J06/ ?9 J0/=./=/-3 3=@3-64J= 47 /,0 ./4J=3,

    f=@/,-6'N-6b05:09 1-=6/ _055. Q>]C $0=.50.f(_ _=./. Q>^C E905460;,@-/-.

    f,-;;50D. +@-=: QQ`C _c# :-.7H63/-46 \ U9;485930J-3 0;-.4:0. \ 85H -6o03/-46 @[email protected]. _c# #9J;/D.

    f-@0 %44; 154J0@H5- QQC #;-6= (-7-:=

    QQQC F60630;,=59

    #"@-3 F3-: QQTC 14H/QQWC %0.3, c9,=6

    QQXC $9054;@45-70@=/-A0 2-.4@:[email protected] 2-H@0/-3. L%44; e +,-=V-:0.P

    "N&O QWXC (@0=./ _=630@ =..43-=/-46

    N4./0@'*0660:9 #96:@4J0 QWYC F /HJ4@ 3=H.-68 ?5-6:60.. e 54.. 47 .J055 Bh ;=;-5540:0J=

    U477J=6D. #-86 QW]C N5-3b-68 47 /,0 J-::50 7-680@D. 6=-5

    G0: cH350H. 20./@H3/-46 QW^C M6/06/-46 /@0J4@. 47 /,0 =@J

    O06/@=5 #;-6430@0?055=@ /@C QX`C "6346.3-4H. ;@4;@-430;/-46 47 54B0@ 0I/@0J-/-0.

    24@.=5 #;-6430@0?055=@ /@C QX

  • 8/11/2019 Gojan keypoints

    9/36

    "#$% .

    QY>C O-.30@=

    1#F QYQC E=-6 e /0J;0@=/H@0 47 7=30QYTC #06.=/-46 47 0I/0@6=5 0=@

    #O& QYWC M660@A=/-46 47 JH.350. 47 J=./-3=-/46R 7=3-=5 0I;@0..-46.R 5=@96I e ;,=@96I

    %$c %0.-46 QYXC f0@6:-8 U477J=6 L;@[email protected] -67=6/-50 JH.3H5=@ =/@4;,9PQYYC E45-4J905-/-.

    #06.4@9 E=/,B=9 %0.-46 QY]C #H?=3H/0 _4J?-60: 208060@=/-46 a N@-0:@-3,D. F/=I-= a ( :07-3-0639QY^C +=?0. 24@.=5-. [email protected];,-5-.P

    (4/, "$c e %$c %0.-46 Q]`C F%# a %4H 1,0@-8D. 2-.0=.0

    (4/, #06.4@9 e $4/4@ %0.-46 Q]C F6/0@-4@ #;-6=5 =@/0@9 )335H.-46

    #H;@=3,-=.J=/-3 cH350H. Q]QC _46/@45. 3-@3=:-=6 @,9/,J

    O06/@4J0:-=5 cH350H. Q]TC #=/-0/9 306/0@C #=A=80 ?0,=A-4@ e 4?0.-/9 B,06 50.-460:

    %=/0@=5 cH350H. Q]WC M6:H30. 0=/-68C #/=@A=/-46 B,06 50.-460:

    F@3H=/0 cH350H. Q]XC G050=.0. EMN L:4;='0@8-3 [email protected]

    $=J-55=@9 (4:9 Q]YC _=6 ,=A0 ,0J4@@,=80. =. .006 -6 f0@6-3b0D. &630;,=54;=/,9

    F3=6/,439/0. Q]]C G(#3 Bh .;-69 ;@4o03/-46.C #006 -6 F?0/=5-;4;@4/0-60J-=C

    $4./ _4JJ46vW94=

    T`QC N-?@4=:064J=

    (06-86 /HJ4@ 47 /,0 5-A0@ T`TC U0J=68-4J=

    (06-86 /HJ4@ 47 /,0 AH5A= T`WC U-:@4=:064J=(06-86 H/0@-60 /HJ4@ T`XC %0-4J94J=m 0./@4806 .-6.-/-A0m 3,=680. .-V0 :H@-68 ;@086=639 e J064;=H.0

    (460 +HJ4@. T`YC $0/=./0.0. 7@4J (@0=./ e E@4./=/0

    (@=-6 +HJ4@ \ _,-5: T`]C $0:H554?5=./4J= L30@0?055HJP

    (@=-6 +HJ4@ \F:H5/ T`^C F./@439/4J= L-635H:-68 15-4?5=./4J= $H5/-74@J0P /,06m J0/.R J06-68-4J=R #3,B=664J=

    (@0=./ _=@3-64J= T

  • 8/11/2019 Gojan keypoints

    10/36

    "#$% &/

    (H8 -6 &;-854//-/-. T@9U+c T>WC G06=5 2-.0=.0

    _=H.0 47 F::-.46D. T>XC FH/4-JJH60 L>6:\ -6703/-46P

    _=H.0 47 ?@0=./ 5HJ;. T>YC _F 47 /,0 ?@0=./

    _=H.0 47 3,@46-306:4J0/@-4.-.

    T>]C +(

    _=H.0 47 _46806-/=5 F:@06=5U9;0@;5=.-=

    T>^C >6:J4./

    34JJ46P

    TQXC $H5/-'M67=@3/ 20J06/-=

    _=H.0 47 [email protected] TQYC F3,46:@4;5=.-=

    _=H.0 47 N44: ;4-.46-68 TQ]C #/=;, =H@0H.

    _=H.0 47 U0J=/4.=5;968= TQ^C &3/4;-3 ;@086=639

    _=H.0 47 U9;4;=@=/,9@4-:-.J TT`C +,@4-:03/4J9

    _=H.0 47 U9;4/,9@4-:-.J TTC &C 345-

    _=H.0 47 %-A0@ :-.0=.0 -6 "# TTQC F534,45 346.HJ;/-46

    _=H.0 47 $=5-86=639 -6

    3,-5:@06

    TTTC F3H/0 50Hb0J-=

    _=H.0 47 $06/=5 @0/=@:=/-46 TTWC 24B6D.

    _=H.0 47 $06/=5 @0/=@:=/-46

    L>6:J4./ 34JJ46P

    TTXC N@=8-50 n

    _=H.0 47 c=_5 54.. =6:

    U9;4/06.-46

    TTYC >< ,9:@4I95=.0 :07-3-0639

    _=H.0 47 EM2 TT]C cC 8,464@@,0=_=H.0 47 E4@/=5 3-@@,4.-. TT^C F534,45

    _=H.0 47 E@0A06/=?50

    (5-6:60..

    TW`C _,5=J9:-= L.0@4/9;0. FR(R(=R_P

    _=H.0 47 EH5J46=@9 U+c TWC G06=5 :-.0=.0

    _=H.0 47 #MF2U TWQC #J=55 _055 _=@3-64J= 47 /,0 %H68

    _=H.0 47 "+ )?./@H3/-46 -6J06

    TWTC (EU9;0@;5=.-=

  • 8/11/2019 Gojan keypoints

    11/36

    "#$% &&

    _=H.0 E0@6-3-4H. F60J-= TWWC _,@46-3 =/@4;,-3 8=./@-/-. a 64 ;@4:H3/-46 47 -6/@-6.-3 7=3/4@

    _,@4J4.4J=5 2-.4@:0@ TWXC 24B6D.

    _4JJ46 +HJ4@ 47 /,0

    F;;06:-I

    TWYC _=@3-64-: /HJ4@m 75H.,-68d :-=@@,0=d ?@463,4.;=.Jd GU0=@/ A=5AH5=@ 50.-46.

    TW]C +I/m $0/,9.0@8-:0 LWU+ =6/=846-./P

    _46806-/=5 _=@:-=3 F64J=59 TW^C O#2 LJ0J?@=64H. w JH.3H5=@P

    _46806-/=5 &=@59 _9=64.-. TX`C +0/@=5489 47 N=554/ a@-8,/ /4 507/ .,H6/

    _4@46=@9 F@/0@9 +,@4J?4.-. TXC $H5/-;50 #[email protected] L_,=@34/ +@-=: a 69./=8JH.R -6/06/-46 /@0J4@R .3=66-68 .;003,PTXQC E0@-A06/@-3H5=@ ;5=lH0. Bh ")5-84:06@439/0.TXTC#M81 -6 _#NR );/-3 c0H@-/-.R $%N #96:4@J0 a M6/0@6H350=@ );,/,=5J4;508-=R ?5=::0@ -6346/-60630

    206/=5 +HJ4@ TXWC ):46/4J=

    2-0/=@9 207-3-0639 TXXC M@46

    2-.0=.0 47 /,0 (@0=./ TXYC N-?@439./-3 :-.0=.0

    2-..0J-6=/0: );;4@/H6-./-3

    M6703/-46 -6 FM2#

    TX]C _$O LE60HJ439./-. 3=@-6---. J4./ 34JJ46 4A0@=55P

    &.4;,=80=5 _=630@ TX^C #__F

    N=554;-=6 +H?0 $=5-86=639 TY`C F:064_F

    N=/=5 1060/-3 20703/ -6

    _=H3=.-=6.

    TYC %0-J94J=

    N4@J 47 FJ954-:4.-. TYQC MJJH64548-3 L(0630 q460. ;@4/0-6 -6 JH5/-;50 J9054J= -. =5.4 3=550: /,0 FJ954-: %-8,/ _,=-6PN4@J 47 +H5=@0J-= TYTC "530@485=6:H5=@

    10@J _055 +HJ4@ 47 +0./0. TYWC #0J-64J= L=6=5484H. /4 :9.80@J-64J= 47 [email protected]

    196034548-3=5 $=5-86=639 TYXC &6:4J0/@-=5 _=@3-64J=

    196034548-3=5 N-6:-68 TYYC &6:4J0/@-=5 _F

    U0=@/ $H@JH@ TY]C $-/@=5 O=5A0 E@45=;.0

    U0=@/ O=5A0 -6 (=3/0@-=5

    &6:43=@:-/-.

    TY^C $-/@=5

    U0=@/ O=5A0 -6 (=3/0@-=5

    &6:43=@:-/-. -6 MO :@H8 H.0@.

    T]`C +@-3H.;-:

    U0=@/ O=5A0 -6A45A0: -6G,0HJ=/-3 N0A0@

    T]C O46 f-550?@=6:D. 2-.0=.0

    U4@J460 .03@0/0: -6E-/H-/=@9 F:064J=

    T]QC E@45=3/-6

    M6,0@-/0: :-.0=.0 47 /,0

    *-:609

    T]TC F:H5/ ;45939./-3 b-:609 :-.0=.0m =..43-=/0: Bh ;45939./-3 5-A0@R (0@@9 [email protected] $-/@=5 ;@45=;.0T]WC FE2< \ 3,@4J4.4J0

  • 8/11/2019 Gojan keypoints

    12/36

    "#$% &'

    $=5-86=639 47 /,0 #J=55M6/0./-60

    T^]C F:0643=@3-64J=

    $=5-86=639 OH5A= T^^C #lH=J4H. 3055 _F

    $=5-86=6/ &90 +HJ4@ -6 *-:. W``C G0/-64?5=./4J=

    $=5-86=6/ +HJ4@ 47 /,0 %-A0@ W`C F%#

    $H.3H5=@ 29./@4;,9 W`QC 2H3,0660D.m 29./@4;,-6 :050/-46C [email protected]/. rW94= B0=b60.. =/ ;05A-3 8-@:50. Bh H;B=@: ;@[email protected]

    c=.=5 +HJ4@ W`TC #lH=J4H. 3055 _F

    c04;5=.J \ _,-5: W`WC %0Hb0J-=c04;5=.J \ _,-5: L>6:J4./

    34JJ46P

    W`XC $0:H554?5=./4J= 47 ?@=-6 L30@0?055HJP

    c04;5=.J 47 /,0 f0./ W`YC F:064 _F 47 /,0 @03/HJ =6:h4@ 34546

    c04;5=./-3 E459; W`]C +H?H5=@ =:064J=

    c0;,@4/-3 #96:@4J0 -6F:H5/.

    W`^C $0J?@=64H. 154J0@H5460;,@-/-.

    c0;,@4/-3 #96:@4J0 -6

    _,-5:@06

    W

  • 8/11/2019 Gojan keypoints

    13/36

    "#$% &(

    #-/0 47 &J?45-3 )335H.-46 WQXC $-::50 30@0?@=5 ==m 346/@=5=/0@=5 ;=@=59.-.d =;,=.-=.d J4/4@ e .06.4@9 54..

    #-/0 47 $0/=./=.-. WQYC G08-46=5 %9J;, c4:0.

    #-/0 47 $0/=./=.-. L>6:

    J4./ 34JJ46P

    WQ]C %-A0@

    #-/0. 47 F/,[email protected]@4.-. WQ^C F?:4J-6=5 =4@/= w 34@46=@9 w ;4;5-/0=5 w 3=@4/-:

    #b-6 _F 47 N=-@ #b-660:E04;50

    WT`C $=5-86=6/ J05=64J=

    #b-6 _=630@ WTC $03b05D. :-A0@/-3H5HJ

    #/4J=3, _=630@ WTQC F:064 \ =..43-=/0: Bh ?544: 8@4H; F

    +0./-3H5=@ +HJ4@ WTTC #0J-64J= a J=5-86=6/ ;=-650.. /0./0. 8@4B/,

    +,9@4-: F64J=59 WTWC +,@94854..=5 :H3/ 39./

    +,9@4-: _F WTXC E=;-55=@9 _F

    +@=3,040.4;,=80=5 N-./H5= WTYC %4B0@ 0.4;,=8H. o4-6. /@=3,0= h H;;0@ 0.4;,=8H. \ ?5-6: ;4H3, \ ;459,9:@=J6-4. =..43-=/-46

    +HJ4@ -6 J06 r>` WT]C 10@J 3055 /HJ4@

    +HJ4@ 47 M67=639 WT^C (06-86 A=.3H5=@ /HJ4@ a ;4@/ B-60 ./=-6 a U0J=68-4J=

    +HJ4@ 47 /,0 #/4J=3, wW`90=@. 47 =80

    WW`C _F 47 ./4J=3, L=:064 _FP

    +9;0 47 U4:8b-6D. WW

  • 8/11/2019 Gojan keypoints

    14/36

    "#$% &)

    _=H.0 47 c46'1,4643433=5"@0/,@-/-.

    WYXC _,5=J9:-= /@-3,4J46=.

    E60HJ46-= WYYC #/@0;C E60HJ46-=0

    "@0/,@-/-. WY]C cC 8,464@@,0=

    _=H.0 47 154J0@H5460;,@-/-. WY^C M8F c0;,@4;=/,9 a (0@80@D. 2-.0=.0

    _=H.0 47 O-@=5 E60HJ46-= W]`C G#O \ -67=6/.W]C M675H06V= A-@H. \ =:H5/.W]QC F:064 A-@H. \ J-5-/=@9 @03@H-/.

    _4J;5-3=/-46 47 _)E2 W]TC EH5J46=@9 -6703/-46._=H.0 47 20=/, Bh #%& W]WC G06=5 7=-5H@0

    F/@-=5 #0;/=5 20703/ W]XC )./-HJ #03H6:HJ +9;0

    f=@J F6/-?4:9 W]YC $4./ 34JJ46 74@J 47 -JJH60 ,0J459/-3 =60J-=W]]C M81 =H/4 =6/-?4:-0. /4 G(_

    W]^C #00 .;,0@439/4.-.d LpP _44J?.D /0./d 34J;5-3=/-46 /4 _%%

    MJJH64:07-3-0639 W^`C M8F 207-3-0639

    _46806-/=5 1M+ F64J=59 W^C N0/=5 F534,45 #96:@4J0

    E,=@J=345489!"#$%$&'( *+,-$". /0.#+&&;-60;,@-60 C $R &< L64 &> =3/-A-/9P

    1F(F QC _=H.0. =6 -6,-?-/4@9 3055 ,9;0@;45=@-V=/-46

    $H.3=@-6-3'@ TC ".0. 2F1 e MEQ =. >6:[email protected] E=@=.9J;=/,0/-3 346/@45

    (0/,=603,45 XC _,45-60@8-3C #1M e (5=::0@ J4/-5-/9C 'J4 *47+/9 D2*,,5@ 8764C78

    E-543=@;-60 YC _,45-60@8-3C EH;-55=@9 346./@-3-/46a J-4.-.C _-5-=@9 346./@-3/-46a =334J4:=/-46C]C 'J4 *9H45 02*H97;*

    M.475H@4;,=/0 ^C )@8=64;,4.;,=/0C M@@[email protected]?50 =30/953,45-60./0@=.0 L'P@

    E@=5-:4I-J0 EF$[C [email protected]. 4@8=64;,4.;,=/0 ?-6:-68 /4 =30/953,45-60./0@=.0

    c04./-8J-60 YC c08=/-A0 -64/@4;9m "346/@=3/-5-/9

    $Q'@ e %H68 >]C (@463,4.;=.J #.03@0/-46.

    $Q'@ e 1M >^C #J4/-5-/9 L3@=J;. e :-=@@,0=PC M6A45H6/=@9 :0703=/-46

    +=3@-60 Q`C F30/953,45-60 0./0@=.0 L'P@C 'J4 ?2L15/;5@I6

    F/@4;-60 M)K EN: OP >*0*2 *@@564

    15934;0@@45=/0 Q>C $'@L'PC F6/-.;=.J4:-3C +I/ ;0;/-3 [email protected]

    E-@06V0;-60 QQC $'@L'PC F6/-.;=.J4:-3C +I/ ;0;/-3 [email protected]

  • 8/11/2019 Gojan keypoints

    15/36

    "#$% &*

    24I=3H@-HJ QTC $4./ ;4/06/ 34J;0/-/-A0 646':0;45 c$q L'P@C c4 3=@:-4A=.3H5=@ .-:0 07703/.C c4 U-./=J-60 @050=.0C

    &?H68=@4/4I-6 QWC E@0A06/ /,0 @050=.=5 47 F3, 7@4J A0.-350. u /,0 ;@0 .96=;/-3 60@A0 06:-68

    $?H68=@4/4I-6 QXC M@@[email protected]?50 c'@ L'P@ a "=3/-46 ;4/06/-=5.

    $< e &90 QYC _46/@=3/. @=:-=5 JH.350 a J9:@-=.-. L;H;-5 :-5=/-46P

    $< e F@/0@-450. Q]C _46./-3/-46m #+EG a #2-=./45-3 ;@0..H@0 a #F7/0@54=:

    $< e O06H50. Q^C _46./@-3/-46m #O064H. @0/H@6 a #E@054=:

    $< e #0I NH63/-46 T`C &o=3H5=/-46

    #2-=./45-3 TC +I/ ?5=3b J06C +I/ FO 64:=5 @0 06/@=630

    iH-6-:-60 QC "FO 64:=5 346:H3/-46C _-63,46-.JC F6/-3,45-60@8-3a =88@=A=/0 $1C U9;4/06.-46a $?543b

    O0@=;=J-5 TC "FO 64:=5 346:H3/-46C "(EC c08=/-A0 -64/@4;0a 64 _UN H.0

    E@4;@=64545 WC "FO 64:=5 346:H3/-46C "(EC c08=/-A0 -64/@4;0La &?543bP F88@=A=/0. F./,J= =6: 2-=?0/0. $05-/H. A-= &> ?543bC

    2-=V4I-:0 XC (=5=630: A=.4:-5=/4@C

    c-@4;@H..-:0 YC (=5=630: A=.4:-5=/4@C "654=:. ,0=@/C #. 39=6-:0a ;@0'/I/ Bh /,-4.H57=/0C +I/ F3H/0 U+cDA [email protected].

    G0.0@;-60 ]C 'J4 65>5@5 V @56/64*+4 .'WC 20;50/0. _FC #00 ./H779 64.0C c4 /4 ;/. Bh ;0;/-3 [email protected]?H/=J-60 ^C F/ ,-8, :4.0. &>LpP 477.0/. $< a &< #_) Bh4 .9./0J-3 A=.3H5=@ @0.-./=630

    24;=J-60 >C 'J4 #*2/0+*+4 X5+4@/9H2*@ ?@@1341;/*6?H/ 3=H.0. ;=..-68 3=/03,45=J-60 @050=.0 /,=/ 3=6 =88@=A=/0 =@@,9/,J-=.?@-0759

    c-J4:-;-60 >QC 'J4 ?9H45 6HD*@*91+7/, 15;7@@1*05?9 ;@0A06/-68 ;4./ ,0J4@@,=8-3 A=.4.;=.J

    F/@4;-60 >TC "0I30.. A=8=5 /460 =. .006 -6 #-6H. (@=:93=@:-=

    c-/@=/0. >WC ";@054=:a A064H. ;445-68C "$O)>a @0750I /=3,9C #A06/@ B4@ba :03 )> :0J=6:

    E@4;@=64545 >XC (543b. @0750I /=3,9 ?H/ 3=H.0. 0I30.. ?@=:9a #:-=./450 /-J0a #&2O

    O0@=;=J-5 >YC #)> .H;;59 A-= "-6 A=.4.;=.J +I/ E@-6VJ0/=5D. A=@-=6/ =68-6=

    F.;-@-6 >]C E@0A06/. =@/0@-=5 ;5=/050/ =:,0.-46 L64/ 2O+,@4J?-PC M6=3/-A=/0. _)na ";5=/050/ ;@4:H3/-46 47 +IF>R = ;4/06/A=.4346./-3/4@

  • 8/11/2019 Gojan keypoints

    16/36

    "#$% &+

    f=@7=@-6 >^C L'PO-/C * :0;06:06/ 8=JJ= 3=@?4I95=/-46 47 354//-68 7=3/[email protected] =6/-34=8H5=/-46 ./=/0

    U0;=@-6 Q`C 20;06:06/ 46 F6/-/,@4J?-6 MMM =3/-A=/-46

    +EF QC 240. 64/ :-.3@-J-6=/0 ?h/ 7-?@-6'?=.0: 354/.a ?500:-68 e ./@4b0 34J;5-3=/-46. [email protected]

    #/@0;/4b-6=.0 QQC N@4J ?=3/0@-=a =550@8-0. [email protected] _=6 .00 0I30.. ?500:-68 -6 ;4./'4; ;/.C

    "@4b-6=.0 QTC UHJ=6 .4H@30C #;5=.J-6C _=6 .00 0I30.. ?500:-68 -6 ;4./'4; ;/.C

    _450./-;45 QWC (-50 =3-: .0lH0./@=6/.C M6/0@@H;/ ?-50 =3-: @0=?.4@;/-46a ##%2% H;/=b0C _,450./9@=J-60 .=J0 $)FC

    %4A=./=/-6 QXC U$1_4F @0:H3/=.0L'Pa #%2%'@ .96/,0.-.C E@=A=./=/-6h $0A=./=/-6 .=J0 $)FC

    %4.=@/=6 QYC "F5:4./0@460C #G06-6 >'QID.

    2-=V4I-:0 Q]C 'J4 /+6H2/+7;*6C c4/ ?=5=630: A=.4:-5=/4@a 465/ :-5=/0. =@/0@-=5 .J44/, JH.350

    _546-:-60 Q^C _06/@=5 $>LpPC "+EG A-= ".9J=;/,0/-3 07703/

    $0/,95:4;= T`C _06/@=5 $>LpPC LppP _44J?.a U0J459/-3 =60J-=

    E,069/4-6 TC _5=..M=C #%& 5-b0 .96:@4J0C

    M6:4;=J-:0 TQC )659 +,-=V-:0 /,=/ B-55 ,=A0 64 07703/ 46 3,450./0@45 50A05.

    +,-=V-:0. TTC )5:0@ ?5=3b J06 Bh U+c :H0 /4 #G06-6C

    &L'P TWC s4H68 B,-/0 J06 Bh4 =./,J= L3=H.0 ?@463,4.;=.JP

    F_&M. TXC L'P 3,=680 FM !FMMC L'P (@=:9b-6-6 -6=3/-A=/-46C _=;/4;@-5h &6=5=;@-5TYC _=H.0 @06=5 7=-5H@0 a H.0 Bh 3=H/-46 -6 /,0 05:0@59

    &;-60;,@-60 T]C #346/@=3/-46 @=/0 e 74@30 A-= & A=.4:-5=-/46

    c4@0;-C WC #;0@-;,0@=5 ?544: A0..05 @0.-./=630

    $0/,95:4;= WQC 2)_ 74@ ;@086=639 -6:H30: U+c

    iH-6-:-60 ;@0'/I/ WTC F/@-=5 =@@,9/,J-= ;@0/I/ Bh = :@H8 /,=/ B-55 "A06/@-3H5=@ @0.;46.0m 2-8Cd&L'Pd _= _,CL'P

    _5=..MM WWC &L'P "@-.b 74 @0-67=@3/-46 e .H::06 :0=/, 74554B-68 $M

    Z1@=9 J=6[ WXC FJ-4:=@460m _5=..MMM =6/-=@@,9/,J-=

    (0;0@-:-5 WYC _= _,L'PC %-J-/0: 35-6-3=5 H.0 :H0 /4 +4@.=:0. :0 E4-6/0.

    F_&M. W]C O=.4:-5=/0 @06=5 0770@06/. w /,=6 =770@06/ =@/[email protected] "1NG e N-5/@=/-46 ;@0..H@0W^C "2-=?0/-3 @06=5 7=-5H@0 ;@[email protected]

    F:064.-60 X`C M/. @030;/4@ -. ?543b0: ?9 $0/,95I=6/,-60. L-0v +,04;,95-60PXC %4B J4503H5=@ B0-8,/ ,0;=@-6 a )@=5 =6/-34=8H5=6/

    M.4;@4/0@0645 XQC #UG e "$FE

    O=@-=6/ =68-6= XTC ".0 _= _,C L'P@ -0v c-70:-;-60

    _46/@=-6:-3=/0: -6

    _UN

    XWC &L'P@ a 94H :46D/ B=6/ /4 "/,0 ,0=@/D. ;HJ;-68 ./@068/,

    1*/Z+)$[ C +@-=V45=JQC )6=V05=J

    TC $-:=V45=J

    (H/9@4;,06460 WC U=54;0@-:45 e 2@4;0@-:45

    F/9;-3=5 2T XC _54V=;-60 \ +,-4@-:=V-60 \ )5=6V0;-60 \ G-.;0@-:460 a 24 64/ 3=H.0 &E#N5HJ=V06-5 YC (2k =6/-:4/0 74@ )2

    $0/,95;,06-:=/0 YK 'J4 *445+4/7+ ,5=/9/4 ,/67@,5@

    E,069/4-6 ^C _=H.0. =;5=./-3 =60J-=h 8-68-A=5 ,9;0@;5=.-=h 3507/ 5-; e ;=5=/0

    +,-4;06/=5

  • 8/11/2019 Gojan keypoints

    17/36

    "#$% &,

    MJ-@;=J-60 WC _=H.0. 84-/0@ ?9 L'P [email protected] 47 +T /4 +Q>XC c0;,@4806-3 :-=?0/0. -6.-;-:H.

    >YC %4B .=5/ :-0/ B-55 50=: /4 %- /4I-3-/9

    F5;@=V45=J -YK EN: 64*05 =@/014

    E@4;@=64545 >^C #43-=5 ;,4?-=

    ''@ Q`C #;-6=5 =6=580.-=C &H;,4@-=C pp0H;,4@-=C pp.0:=/-46C _46./-;=/-46C

    '@ Q Q>C F:J-6C -. 346/@=-6:-3=/0: /4 ;/. 46 J4@;,-60 .0:=/-46a "_)>.06.-/-A-/9 =6: )>=:J-6C 3=6 ./4; ?@0=/,-68C

    $4@;,-60 QQC #M_E a :4 64/ 8-A0 /4 ;/C B-/, ,0=: /@=HJ=

    $4@;,-60 )2 QTC C"D: @0.;-@=-/46 QC34J=

    $0;0@-:-60 QWC F60./,0/-3 H.0: :H@-68 5=?4@

    U9:@4J4@;,460 QXC LpP H.0: -6 @06=5 7=-5H@0

    +@=J=:45 QYC FJ?H5=/4@9 /I/ 74@ J4:C /4 .0A0@0 ;=-6

    c=54I460 Q]C 'J4 78/7/, NEC [email protected]. @0.;-@=/4@9 :0;@0..-46

    E06/=V43-60 Q^C E=@/ 'LpP e ;=@/ L'P

    (H/4@;,0645 T`C E=@/ 'LpP e ;=@/ L'P

    c=5?H;,060 T

  • 8/11/2019 Gojan keypoints

    18/36

    "#$% &-

    20.-;@=J-60 3=H.0. Y>C #H::06 3=@:=-3 :0=/, -6 3,-5:@06

    !%#'67%8+(#'-+E@-J=lH-60 ZK #*2*@/* 8@7=32*J/6

    WC ".0: 74@ 0I/@=0@9/,@439/-3 74@J. E5=.J4:-HJ A-A=I 4@ EC 4A=50

    _-;4@754I=3-6 XC iH-645460 :0@-A=/-A0

    #H5746=J-:0. YC EF(F ./@H3/H@=5 =6=548.]C M6,-?-/ N45-3 =3-: .96/,0.-.

    +0@/=3935-60.R =6H@-= e /,0 0I30;/-46^C #,4H5: 64/ ?0 H.0: -6 =6H@-3 ;/ :H0 /4 ;@4:H3/-46 47 L'P c-/@4806 ?=5=630 e #: ("c 50A05.CTC F a FJ-6485934.-:0.>WC + a +0/@=3935-60.

    >XC _ a _,54@=J;,06-345>YC & a &@9/,@4J93-6 LJ=3@45-:0P>]C % a _5-6:=J93-6

    >^C % a %-634J93-6

    _074I-/-6 Q`C 'J4 /+4@**D,7;/+*2 /+=594/7+6L-0v Bh (=3/0@4-:0. 7@=8-5-.PQC (@4=: .;03/@HJ =6/-?-4/-3QQC (460 J=@@4B :0;@0..-46 L34JJ46P \ F;5=./-3 =60J-= L@=@0PQTC 1@=9 ?=?9 .96:@4J0 L3,54@=J;,06-345 3=664/ ?0 346oH8=/0:P

    QWC EN: '3817/, G5>[email protected];/4J=/-3 #=5J46055= -6703/-46PQXC EN: ./T ;5+/+0/4/6 /+ B/,6\ 0.;03-=559 @0.-./=6/ ./@=-6 /4 =J;-3-55-6

    c-7H@/-J4I M^K 'J4 4@38*+767;/*6/6

    $0/@46-:=V450 MYK 'J4 $5/61;*+/*6/6 V ?;5D/*6/6Q^C 144: 74@ =6=0@4?-3 ?=3/0@-= a (=3/0@4-:0. 7@=8-5-.ZRK EN: '@/917;7+/*6/6

    Z)K EN: C +$E'#$n e E06/=J-:-60

    +0/@=3935-60 TQC +I/ 47 (@H30554.-. e _,450@=TTC +I/ G43b9 $4H6/=-6 #;4//0: N0A0@TWC +I/ .;-@43,0/0 -6703/-46. a %9J0 :-.0=.0 L(4@@05-= ?H@8:4@70@-P

    +$E'#$n TXC L'P :-,9:@4745=/0 @0:H3/=.0 =3/-A-/9

    (06V=/,-60 E06-3-55-6 1 TYC %468 :H@=/-46 47 =3/-46 a 8-A06 4630 0A0@9 Q'T B00b. 74@ +I/ 47 #9;,-5-.

    E@=V-lH=6/05 T]C +I/ #3,-./4.4J-=.-. L/@0J=/4:0 g75Hb0j -6703/-46.P

    [email protected];@45 T^C +I/ +@9;=64.4J-=.-. /,=/ ,=. 60H@4548-3=5 .9J;/4J.

    #/-?485H346=/0 W`C +I/ %0-.,J=6-=.-.

    N5H346=V450 WC E459060 =6/-7-68=5

    *0/4346=V450 $)F WQC L'P 7H68=5 0@84./0@45 .96/,0.-. a :-.@H;/. J0J?@=60

    [email protected] $)F WTC F33HJH5=/0. -6 b0@=/-6-V0: 5=90@. 47 /,0 .b-6 a H.0: -6 :0@J=/4J934.0. -6703/-46.

    $0754lH-60 WWC F6/- J=5=@-=5WXC +I/ _,54@4lH-60 @0.-./=6/ ./@=-6. a EC 7=53-;=@HJ

    _,54@4lH-60 WYC +I/ 74@ $=5=@-= B,06 -6.-:0 G(_

  • 8/11/2019 Gojan keypoints

    19/36

    "#$% &.

    c-7H@/-J4I W]C 2)_ _,=8=. :-.0=.0 :H0 /4 +@9;=64.4J= 3@HV-

    &@9/,@4J93-6 W^C ".0: -6 ;/. =550@8-3 /4 ;06-3-55-6.

    c9./=/-6 X`C +4;-3=5 /I/ 47 .H;0@7-3-=5 J934/-3 -6703/-46. a _=6:-:-=.-.

    F39354A-@ XC +I/ U0@;0. -6703/-46.

    MJ-;060J XQC ".0: Bh _-5=./=/-6XTC _=6 3=H.0 .0-VH@0.

    _074;0@=V460 .-:0 07703/. XWC (500:-68 :H0 /4 A-/ * 50A05 =5/0@=/-46.XXC _46/@=-6:-3=/0: -6 ;/. Bh ?500:-68 :-.4@:0@.

    O=634J93-6 XYC ".0: 74@ $G## LJ0/,-3-55-6 @0.-./=6/ #/=;,C [email protected]]C ZG0: 603b[m :H0 /4 ,-./=J-60 @050=.0 3=H.0. 7=3-=5 75H.,-68

    $0@4;060J X^C H.0: Bh _-5=./=/-6Y`C 240. 64/ 3=H.0 .0-VH@0. L37 Bh MJ-;060JP

    c=73-55-6 YC #006 Bh H.0 47mYQC $0/@46-:=V450 \ M.46-=V-: \ O-63@-./-60 \ ::M \ Fk+ \ F554;H@-645

    #H5746=J-:0. e 60B?4@6. YTC *0@6-3/0@H. 3=6 433H@

    Z)CcC&C[ 74@ 8464@@,0= YWC N5H4@4lH-645460. H.0: -6 = 460 :4.0 :0=5 74@ 8464@@,0=mYXC ) a )754I=3-6YYC c a c4@754I=3-6Y]C & a &64I=3-6

    G-?=A-@-6 Y^C +I/ G#O LG0.;-@=/4@9 #9639/-=5 [email protected]

    !%#'6*+$942.#'(._9354.;4@-60 ]`C E@4/03/. =8=-6./ @0o03/-46. 7@4J 4@8=6 /@=6.;5=6/.

    ]C F5b95=/-68 =806/ 47 ?4/, ;H@-60 e ;9@-J-:-60 ?=.0. 47 2cF]QC +I/ _%%

    _-.;5=/-6D. /4I-3-/-0. ]TC c0;,@4' e )/4/4I-3-/9

    $0/,4/@0I=/0 ]WC F6/-J0/=?45-/0 47 745-3 =3-:m L'P:-,9:@4745=/0 @0:H3/=.0

    %0H34A4@-6 G0.3H0 ]XC _=6 ?543bh@0:H30 $0/,4/@0I=/0 a #745-3 =3-: A-= = @0:H30: 745=/0

    (504J93-6 /4I-3-/-0. ]YC E60HJ46-/-. e ;H5J46=@9 [email protected].

    FV=/,-4@-60 ]]C ".0: -6 4@8=6 /@=6.;5=6/=/-46 a b-:609 =5548@=7/.]^C F554;H@-645 3=6 #-/. =3/-A-/9 ?9 L'P -/. ?-4/@=6.74@J=/-46 /4 I=6/,-60 4I-:=.0

    $)EE^`C _,0J4/,0@=;9 H.0: -6 /,0 /I/ 47 U4:8b-6D. :-.0=.0

    ^C ) a )634A-6 LO-63@-./-60P \ ;@0A06/. J-3@4/H?H50 =..0J?59

    ^QC E a E@43=@?=V-60^TC E a E@0:6-.460 \ 85H3434@/-34-:R -6:H3-68 =;4;/4.-.

    +=J4I-706 ^WC L'P 0./@4806 @030;/4@^XC +I/ 47 ?@0=./ /[email protected] 3=6 .00 =..43-=/0: 06:4J0/@-=5 _F

    N5H/=J-:0 ^YC F6/-=6:@4806-3^]C ".0: Bh %0H;@45-:0 L%U'GU =6=548P

    ^^C +I/ ;@4./=/-3 _F

    $080./@45

  • 8/11/2019 Gojan keypoints

    20/36

    "#$% '/

    FJ-74./-60

  • 8/11/2019 Gojan keypoints

    21/36

    "#$% '&

    N=//9 :08060@=/-46 `XC #3,-./4.4J= ,=0J=/4?-HJ a "@-6=@9 ?5=::0@ _F>`YC #C J=6.46- a _4546 _F>`]C F.;0@8-55H. 75=AH. a ;4/06/ ,0;=/43=@3-64806

    )3,@464.-. >`^C F5b=;/46H@-=>>XC G0/-3H5406:4/,05-=5 8-=6/ 3055. 46 /46.-5.R 59J;, 64:0.R .;5006

  • 8/11/2019 Gojan keypoints

    22/36

    "#$% ''

    >>YC #006 B-/, GH?045= LJ0=.50.P :H0 /4 ;=@=J9I4A-@H.

    2-;,9554?4/,@-HJ 5=/HJ >>]C +=;0B4@J -6703/-46 3=H.-68 J08=54?5=./-3 =60J-= ?9 346.HJ-68 5=@80 =J4H6/ 47 A-/ ( -6 /,0 ,4./

    #H?=3H/0 (=3/0@-=5

    &6:43=@:-/-.

    >>^C$U0J459/-3 #/@0;/43433- L#C A-@-:=6.P a H.H=559 -6 ;/ Bh ;@0'0I-./-68 ,0=@/ ;@4?50J

    F3H/0 (=3/0@-=5 &6:43=@:-/-. >Q`C #/=;, [email protected] &U0J459/-3 #/@0;/43433-R &C 345->QQ>C GH;/H@0: ;=;-55=@9 JH.350

    %07/ F6/0@-4@ 20.306:-68?@=63,

    >QQC (@=63, 47 /,0 %07/ _4@46=@9 =@/0@9

    >QTC U-8,0./ 7@0lH0639 47 /,@4J?4/-3 4335H.-46

    >QWC $M a =6/0@-4@ B=55 47 /,0 %OR 0.;03-=559 -6 =;-3=5 ;=@/ 47 -6/0@A06/@-3H5=@ .0;/HJ%07/ _-@3HJ750I ?@=63, >QXC (@=63, 47 /,0 %07/ _4@46=@9 =@/0@9

    >QYC )335H.-46 a $M 47 ;4./0@-4@h5=/0@=5 B=55 47 /,0 %O

    2-..03/-68 [email protected] >Q]C N=5.0 [email protected] -/ -. .;5-//-68 47 /,0 J0:-= 47 /,0 =4@/=>Q^C ".H=559 =334J;=6-0: Bh 5468 ,-./4@9 47 .0A0@0 ,9;0@/06.-46R =5.4 .006 Bh 7=J-5-=5 ,9;0@5-;-:0J-=R

    =/,[email protected]@4/-3 :-.0=.0R $=@7=6D. _455=806 :-.0=.0>T`C k460. 47 J0:-=5 [email protected]. ph' .5-/5-b0 39./. a $0:-=5 _9./-3 [email protected]. 47 &@:,0-J

    _4@ EH5J46=50 >TT>C #H::06 @-8,/ A06/@-3H5=@ ./@=-6 :H0 /4 = J=..-A0 ;H5J46=@9 0J?45-.J

    (@463,4;60HJ46-= >TQC %4?H5=@ L@=/,0@ /,=6 54?=@P>TTC 2H0 /4 #/=;, [email protected] E.0H:4J46=. =0@H8-64.=d *50?.-055=d &C 345->TWC F?.30.. 74@J=/-46 -. 34JJ46

    %4?=@ ;60HJ46-= >TXC 2H0 /4 #/@0;C E60HJ46-=0 -6703/-46 LWt :H0 /4 *50?.-055=P

    >TYC G0: U0;=/-V=/-46m :=9. T^C _4J;5-3=-/46.m ;50H@=5 077H.-46d =/0503/=.-=d 7-?@-64H. ;50H@-/-.d 0J;90J=d 7-?@-64H. ;0@-3=@:-/-.d 4/-/-.

    J0:-=

    (@463,-03/=.-. >W`C E0@J=606/ :-5=/=/-46 47 /,0 ?@463,- \ ;@0:-.;4.0: ?9 3,@46-3 .-6H.-/-. =6: ;4./ 6=.=5 :@-;>WW>C %4B0@ 54?0 w /,=6 H;;0@ 54?0 -6A45A0J06/

    _45: F885H/-6-6. >WQC N4H6: Bh $934;5=.J= ;60HJ46-=0

    E=654?H5=@ &J;,9.0J= >WTC$< \ =6/-/@9;.-6 :07-3-0639R 3=H.-68 05=./=.0 # a #34J;5-=630 -6 /,0 5H68

    (H55= >WWC F..43-=/0: Bh &J;,9.0J= a Z(50?[ a 4H/;4H3,-68 ' M7 -/ @H;/H@0. 3=H.0. E60HJ4/,4@=I

    N=@J0@D. %H68 >WXC 2H0 /4 $-3@4;459.;4@= 7=06- L/,0@J4;,-5-3 =3/-64J930/0.P

    (=8=..4.-. >WYC 2H0 /4 $C AH58=@-. L=3/-64J930/0.P>W]C M6,=5=/-46 47 .H8=@ 3=60 :H./

    #-54'N-550@D. %H68 >W^C 2H0 /4 c-/@4806 :-4I-:0 7@4J 6-/@=/0. -6 34@61XE2U 207-3-0639 >X`C #0I'5-6b0: 3,@46-3 ,0J459/-3 =60J-= Bh4 3,=550680 4@ =7/0@ 0=/-68 7=A= ?0=6.

    >XX>C #-3b50 _055 F60J-=

    $H5/-;50 $9054J= >XQC %9/-3 50.-46. 47 75=/ ?460. LZ.=5/ e ;0;;0@ 50.-46.[P a A0@/0?@=0R @-?.R .bH55d U9;0@3=530J-=d (0630'q460.;@4/0-6 3=./.

    U4:8b-6D. 2-.0=.0 >XTC $=5-86=6/ 604;5=.J 47 /,0 59J;, 64:0. 3=H.-68 ;@H@-/-.d 70A0@ a 544b. 5-b0 =6 =3H/0 -6703/-46>XWC G00: #/0@6?0@8 3055.

    E459=@/0@-/-. c4:4.= >XXC MJJH60 34J;50I :-.0=.0 47 F8'F? 34J;50I0. 46 ?544: A0..05 B=55>XYC U=57 47 /,0 -JJH60 34J;50I0. ,=A0 U0;=/-/-. ( F8

    >X]C _=6 .00 70A0@d =?:C;=-6d "B/d U+cd JH.350 =3,0.

    #;@H0 >X^C _05-=3 :-.0=.0 :H0 /4 = 85H/06'-6:H30: 06/0@4;=/,9 a .J=55 -6/0./-60 A-55- =@0 ?5H6/0:>Y`C U-8, /-/0@. 47 =6/-'85-=:-6 F?. e #M8F 50A05.

    G08-46=5 &6/0@-/-.>YY>C F..43-=/-46 Bh F@/,@-/-.d "A0-/-.d &@9/,0J= c4:4.HJ

    f,-;;50D. 2-.0=.0 >YQC M6/0./-6=5 %-;4:9./@4;,9 a J=5=?.4@;/-46 .96:@4J0

    *H53,-/.b9 3055. >YTC c0H@=5 30./ 3055. 7@4J B,-3, 3=@3-64-:. [email protected] a 47 /,0 (@463,-d 1M+d E=63@0=.

    "530@=/-A0 _45-/-. >YWC M675=JJ=/4@9 :-.0=.0 47 /,0 34546 Bh #34546 _F -63-:0630>YXC _@9;/ =?.30.. -6 /,0 3@9;/. 47 %-0?0@bH,6>YYC E.0H:4;459;. B,06 H530@. =@0 :00;

    >Y]C c4/ /@=6.JH@=5 -6A45A0J06/

    O=8-6=5 F:064.-. >Y^C f4J06 0I;4.0: /4 2 L2-0/,95./-5?0./0@45P -6 H/0@4 ?074@0 /,0 ]`C #4J0 :0A054; 350=@ 3055 =:0643=@3-64J= 47 /,0 A=8-6= e 30@A-I

    #3-@@,4H. _=@3-64J= >]]>C %-;-: 5=:06 J=3@4;,=80. .006 -6 A-55- 47 &@9/,@4?5=./4.-. N0/=5-.

  • 8/11/2019 Gojan keypoints

    23/36

    "#$% '(

    G0/-64;=/,9 47 E@0J=/H@-/9 >]QC G0/@4506/=5 N-?@4;5=.-= a 3=H.0 47 ?-6:60.. -6 ;@0J-0. :H0 /4 ,-8, )> 346306/@=/-46.

    M8F :07-3-0639 >]TC E/ ,=. @03H@@06/ -6703/-46. e :-=@@,0= Bh #@0.;-@=/4@9 /@=3/ =550@89 e =H/4-JJH60 :-.0=.0.>]WC M7 8-A06 ?544: Bh M8F a :0A054; .0A0@0R 7=/=5 =6=;,95=I-. @0=3/-46

    E@-=J@9 #o4@806D. >]XC 2@9 090. e :@9 J4H/,R =@/,@-/-.C #@-.b 74@ ( 3055 59J;,4J=C U%F'2GQ 7@0lH06/C FH/4-JJH60 :-.0=.0C

    #0346:=@9 #o4@806D. >]YC G,0HJ=/4-: =@/,@-/-.R #%&R 4@ .9./0J-3 [email protected]. =..43-=/-46>]]C GF =..43-=/-46 .,4B. U%F'2GT

    %2U< e %2U> >]^C $943=@:-HJC %2U< ,-8,0@ /,=6 %2U> a $943=@:-=5 M67=@3/-46

    %2UQ >^`C %H68 /-..H0

    %2UT e %2UW >^^>C #0A0@0 O-/ F :07-3-0639C #00 (-/4/D. .;4/. -6 /,0 090. a 8@=9 ;5=lH0. a /,-3b060:R b0@=/-6-V0: &+$0/=?-.7-/0 +0./ >^QC #H.;06:-68 G(_. -6 = 54B )> 346/06/ .45H/-46

    >^TC _=6 :0/03/ U0J4854?-6 #R B,-3, .-3b50. -6 54B )>

    $-3@4=68-4;=/,-3 U0J459/-3

    F60J-=

    >^WC _=6 ?0 :H0 /4 U0J459-/3 "@0J-3 #96:@4J0 e +,@4J?4/-3 +,@4J?439/4;06-3 EH@;H@= L++EP>^XC #00 U05J0/ 3055.

    f@-8,/D. ./=-6 >^YC #/=-6 74@ (H@b-//D. 59J;,4J=

    $4646H3504.-. >^]C 2H0 /4 &(O -6703-/46>^^C M7 $464 -. /@0=/0: Bh FJ;-3-55-6R /,-6b-68 /,=/ -/ -. = ./@0; ;,=@968-/-.R = @=., B-55 433H@C

    +L]dC %0//0@ #-B0 .96:@4J0d U=6: #3,H550@ _,@-./-=6 2-.0=.0d &4.-64;,-5-3 1@=6H54J=Q`QC (-@?03b 8@=6H50. =@0 ;@0.06/ a /066-. @=3b0/ .,=;0

    $9054-: $0/=;5=.-=Q`TC F5b=5-60 ;,4.;,=/=.0 #h64@J=5 34J;=@0 /4 _$% a 54B /4 =?.06/

    Q`WC F60J-=d .;5064J08=59d ;5=/050/. w < J-55-46 a 0I/06.-A0 0I/@='J0:H55=@9 ,0J=/4;4-0.-.

    $H5/-;50 $9054J= Q`XC f0=b60..d B/C 54..d @03H@@06/ -6703/-46d ;@4/0-6H@-=d =60J-=d #;@45-70@=/-46 47 ;5=.J= 3055. -6 ($ a;5=.J= 3055 :I

    Q`YC #0@HJ $ ;@4/0-6 .;-b0 \ J4./ 47/06 47 M81 4@ M8F

    Q`]C U9;0@3=530J-= L#?460 :0./@H3/-46P

    +L]C #J=55 %9J;,439/-3m 54B 8@=:0 ( 3055 59J;,4J= 47 /,0 05:0@59C G05=/0: /4 _%%CQ>^C #J=55 _50=A0: 3055 LN455-3H=5@Pm 54B 8@=:0 ( 3055 59J;,4J= 47 /,0 05:0@59C +LC";*22 W7+ :25*>5,a (H@b-//D.m ,-8, 8@=:0 ( 3055 59J;,4J=C &(O -6703/-46C #/=@@9 .b9,-./4 =;;0=@=630C

    +L]d

  • 8/11/2019 Gojan keypoints

    24/36

    "#$% ')

    #H;0@-4@ O06= _=A= #96:@4J0 QQWC )?./@H3/0: :H0 /4 ?@463,4806-3 3=@3-64J=C _=H.-68 .B45506 7=30 e 39=64.-.C

    (0/05 6H/. QQXC F..43-=/0: /4 4@=5 3=630@C

    NH6:=5 L+9;0 FP 1=./@-/-. QQYC F6/-?4:-0. /4 ;=@-0/=5 3055.d ;0@6-3-4H. =60J-=d =H/4-JJH60 :-.0=.0.

    F6/@=5 L+9;0 (P 1=./@-/-. QQ]C F..43-=/0: Bh U05-34?=3/0@ L_=J;954?=3/0@P ;954@- -6703/-46C ^`t 47 :H4:06=5 H530@

    E@-J=@9 (-5-=@9 _-@@,4.-. QQ^C FH/4-JJH60 4@-8-6d J-::50 =80: B4J06d =6/-'J-/43,46:@-=5 F?.QT`C q=H6:-30d -/3,-68d ,9;0@3,450./0@450J-= L3=6 .00 3H/=604H. I=6/,4J=.P

    F3H/0 E=63@0=/-/-. QTC #0A0@0 0;-8=./@-3 =? ;=-6d ;@4./@=/-46d @=:-=/-46 /4 /,0 ?=3b

    G=:-=/-68 (=3b E=-6 QTQC _,@46-3 ;=63@0=/-/-.

    _4J;50/0 U9:=/-:-74@J $450 QTTC c4 0J?@94C E=/0@6=5 :0@-A=/-46 4659C TXnnE=@/-=5 U9:=/-:-74@J $450 QTWC &J?@94C > 4@ J4@0 .;@0J. 70@/-5-V0: < 4AHJm /@-;54-:9h/0/@=;54-:9 433H@.

    _45: c4:H50. QTXC U9;4;5=./-3 14-/0@ 64:H50. /,=/ :4 64/ /=b0 H; @=:-4 =3/-A0 -4:-60C g);;4.-/0m ,4/ e :4 /=b0 H; -4:-60j

    F3-:4;,-5. QTYC $=JJ4/@4;,. a E@45=3/-6QT]C #4J=/4/@4;,. a 1U

    (=.4;,-5. QT^C +,9@4/@4;,. a +#UQW`C 146=:4/@4;,. a %UQWC #J=55h743=5 == 4335H.-46.C EH@059 J4/4@ 4@ .06.4@9CQWQC #06.4@9m 50.-46 47 /,=5=JH.

    QWTC $4/4@m 50.-46 47 -6/0@6=5 3=;.H50

    _#N 47 (=3/0@-=5 $06-68-/-. QWWC"15H34.0d #E@4/0-6d #c0H/@4;,-5.d #[email protected]@0

    _#N 47 O-@=5 $06-68-/-.QWXC c4@J=5 15H34.0d ph'#E@4/0-6d #%9J;,439/0.

    $=@?50 (460 2-.0=.0 QWYC )./04;[email protected] F5?0@.'#3,46?0@: 2-.0=.0 a -6.;-/0 47 #: ?460 :06.-/9R J=69 7@=3/H@0. a "4./0435=./.

    _W= QW]C M6A45A0: -6 _,0J4/=I-. L74@ c0H/@4;,-5.P

    _Q? QW^C M6A45A0: -6 );.46-V=/-46 Le M81P

    F6=;,954/4I-6. QX`C _Q= e _W= LJ0:-=/0 U-./=J-60 @050=.0 7@4J (=.4;,-5. e $=./ 3055.P

    O=.4=3/-A0 $0:-=/4@. QXd %+_Td %+2Td %+&Td (?GQX>C O=.4:-5=/-46m E1M>d E12>d E1&>d E1N>$d (@=:9b-6-6d (?G

    QXQC#: O=.3H5=@ E0@J0=?-5-/9m U-./Cd WU+d E12>d E1&>d E1N>$d %+_Td %+2Td %+&Td (@=:9b-6-6d (?G

    E5=/050/ F88@08=/-46 QXTC F2Ed +,@4J?-6d +IF>d 3455=806d &;-60;,@-60d EFN

    E5=/050/ F6/=846-./ QXWC E@4./=3935-6 LE1M>P

    M6/@-6.-3 E=/,B=9 QXXC N nMM LU=8J=6Pm FE++

    &I/@-6.-3 E=/,B=9 QXYC N OMMm E+

    %-60. 47 k=,6QX]C F/0@-=5 /,@4J?- a ;=50 @0: 3454@0: L:=@b @0: -. A064H. /,@4J?-P

    _H@@=6/ q0559 =;;0=@=630 QX^C E4./ J4@/0J 354/.

    &J-8@=/-46m _,0J4/=I-. QY`C $=@8-6=/-46QYC F:,0.-46QYQC _,0J4/=I-.

    QYTC E,=8439/4.-.QYWC M6/@=3055H5=@ J-3@4?-=5 b-55-68

    +@=6.H:=/0 QYXC #;03-7-3 8@=A-/9 r

  • 8/11/2019 Gojan keypoints

    25/36

    "#$% '*

    Q^QC c-0J=66'E-3bQ^TC UH@[email protected]^WC O46 1-0@b0D.

    Q^XC E4J;0D.Q^YC [email protected]^]C $3F@:50D.

    Q^^C 1=5=3/4.0J-=T``C E*"T`C UH6/0@D. #96:@4J0 L%'M:[email protected]=/0 #H57=/=.0 :07-3-639R #U0;=@=6h20@J=/=6 #H57=/0P

    T`QC N=?@9D. 2-.0=.0 L$1=5=3/4.-:=.0 F :07-3-0639R #_0@0J-:0 +@-,0I4.-:0PT`TC _5=..-3 U0J4;,-5-= F LN=3/4@ OMMM :07-3-0639R N] 1060 46 n 3,@4J4.4J0 -. ?=:R #_0@0J-:0 +@-,0I4.-:0PT`WC %-.3,'c9,=6 #96:@4J0 LU1EG+ :07-3-0639R #"@-3 =3-:P

    T`XC 1XE,4.;,=/=.0 :07-3-0639 L1XE2U :07-3-0639R #_0@0J-:0 /@-,0I4.-:0PT`YC 2H3,0660D. $H.3H5=@ 29./@4;,9 L29./@4;,-6 :07-3-6039R #_0@0J-:0 +@-,0I4.-:0P

    U9;[email protected]/-A-/9 G0=3/-46.

    ZF_M2[

    T`]C'385 _ LF6=;,95=3/-3Pm M8& J0:-=/0:C &I.m U=9 N0A0@d F550@8-3 =./,J=d U-A0.T`^C'385 __L_9/4/4I-3Pm f=@J F? =H/4-JJH60 ,0J459/-3 =60J-=d ,0J459/-3 /@=6.7H.-46 @0=3/-46.d

    &@9/,@4?5=./4.-. N0/=5-.d 1@=A0D. 2-.0=.0d 144:;=./[email protected] 70/=5 B00b.+0@J-6=5 #=3 >T B00b. /4 ?-@/,F5A045=@ ;0@-4: ?-@/,']94=

    U0=@/D. @9/4 +0J;4@=5 ?460 7@=3/H@0

    +9;0 MM &@@4@&m Z#0//-68 /,0 8H-5/9 7@00[ \ 7=-5 /4 @0o03/ /,0 6H55 ,9;4/0.-. B,06 -/ B=. 7=5.0

    E4B0@ < ' &

    #06.-/-A-/9 +Eh+E p Nc

    #;03-7-3-/9 +ch+c p NE

    E4.-/-A0 E@0:-3/-A0 O=5H0 +Eh+E p NE

    c08=/-A0 E@0:-3/-A0 O=5H0 +ch+c p Nc

    )::. G=/-4 =:h?3

    :'2-J0@. 2M_

    205H.-46 2-.4@:0@ 47 /,4H8,/ 346/06/

    %44.0 F..43-=/-46 #b-; 7@4J /4;-3 /4 /4;-3

    W #/=80. 47 20=/, 206-=5 \ F680@ \ (=@8=-6-68 \ 20;@0..-46 \ F330;/=630

  • 8/11/2019 Gojan keypoints

    26/36

    "#$% '+

    6:(@=63,-=5 F@3, G0-3,0@/D. 3=@/-55=80 \ 8-A0. @-.0 /4 ./=;0. ?460 47 0=@

    $0:-=6 60@A0 50.-46 c4 ;@46=/-46

    G=:-=5 60@A0 50.-46 f@-./ :@4; \ .006 Bh ,HJ0@H. 7@=3/H@0

    _4JJ46 ;0@460=5 50.-46 N44/ :@4;C c4 :[email protected] 4@ [email protected] 47 /,0 744/

    2-@=3/ -68H-6=5 ,0@6-= 140. /,@4H8, .H;0@7-3-=5 -68H-6=5 @-68C$0:-=5 /4 -670@-4@ 0;-8=./@-3 =@/0@9

    #006 -6 45:0@ J06

    M6:-@03/ -68H-6=5 ,0@6-= 140. /,@4H8, :00; e .H;0@7-3-=5 -68H-6=5 @-68

    %=/0@=5 /4 -670@-4@ 0;-8=./@-3 =@/0@9#006 -6 94H68 ?49. \ ;@430..H. A=8-6=5-. :-: 64/ 354.0

    u 2-=;,@=8J +]R +

  • 8/11/2019 Gojan keypoints

    27/36

    "#$% ',

    #=?4H@=H:D. F8=@ _H5/H@0 74@ =55 NH68- -0v_H5/H@0 _@9;/43433H. 6047@4J=6. B,-3, -. 74H6: -6 ;-8046 :@4;;-68.

    N$G< 1060 20703/ N@=8-50 n #96:@4J0m J=3@4'4@3,-:-.Jd 5468 7=30d 5=@80 o=Bd 5=@80 0A0@/0: [email protected] =H/-.JR J06/=5 @0/=@:=/-46

    (=@@ (4:9 [email protected]/ -6 *50-6705/[email protected] $=50m nnsc4/ ;@0.06/ -6 +H@[email protected] N0J=50m n)

    F4@/-3 M6.H77-3-0639 #-86. +@=H?0 #-86 a E-./45 .,4/ .4H6: 4A0@ /,0 70J4@=5 A0..05._4@@-8=6 ;H5.0 a B=/0@ ,=JJ0@ ;H5.0 4A0@ 34@=/-: =@/0@9 a =4@/-3 @08H@8-/=/-46

    #350@4:0@J= m[_G+[ _=53-64.-.d G=96=H:.d &.4;,=80=5d #350@4:=3/95d +05=68-03/=.-.

    _@0/-6-.J #;4@=:-3m ?=: +T ;,4.;,4@95=/-46 4@ :0A054;J06/=5 7=-5H@0 47 /,9@4-: 74@J=/-46&6:0J-3m 64 M4:-60 -6 :-0/m ;@4/@H:-68 ?0559 e ?0559 ?H//46

    U0J43,@4J=/4.-. +@-=: $-3@464:H5=@ ;-8J06/ 3-@@,4.-.d (@46V0 2-=?0/0.d #b-6 ;-8J06/=/-46 a :H0 /4 #N0Qp

    :0;4.-/-46

    U-8,59 +0./0: 2@H8 #-:0 &7703/.F8@=6H5439/4.-. T>`C _54V=;-60R _,54@=J;,06-3=5

    F;5=./-3 F60J-= T>>C c#FM2.T>QC (06V060

    F/@4;-60'5-b0 #-:0 &7703/. T>TC +@-3935-3.

    _=@:-4/4I-3-/9 T>WC 24I4@H?-3-6T>XC 2=H64@H?-3-6

    _=@/-5=80 2=J=80 -6 _,-5:@06 T>YC N5H4@4lH-645460. L_-;@4754I=3-6 e c4@754I=3-6P

    _-63,46-.J T>]C iH-6-:-60

    _4H8, T>^C F_& M6,-?-/4@.

    c0;,@4806-3 2-=?0/0. M6.-;-:H. TQ`C %-/,-HJ L+I/ Bh FJ-54@-:0P

    2-.H57-@=J'5-b0 &7703/ TQC #H574695H@0=. L

  • 8/11/2019 Gojan keypoints

    28/36

    "#$% '-

    )./04;[email protected]. TXWC U0;=@-6TXXC _4@/-34./0@4-:.

    E4.-/-A0 _44J?.D +0./ TXYC $0/,95:4;=

    EH5J46=@9 [email protected]. TX]C (504J93-6TX^C FJ-4:=@460

    G0: $=6 #96:@4J0 TY`C O=634J93-6

    #0A0@0 U+c B-/, +9@=J-60 TYC c0-..0@-=R U=0J4;,-5H.R #C ;60HJ46-=0

    f-:=5 +0./ TQC #=5J46055= L#=5J46055= ?08-6. -6 /,0 -504303=5 @08-46P=885H/-6=/-46 -6:-3=/0. F?. /4 )R UR O- #=5JH6055= F8.

    01234%5

    6#7% 8'9

    :1; 01234%5 ;18'9

  • 8/11/2019 Gojan keypoints

    29/36

    "#$% '.

    f=9.46D. #/=-6 TTC [email protected]=

    E60HJ46-3 E5=lH0 +@=6.J-..-46 TWC [email protected] /4 ;[email protected] 37 Bh (H?46-3 ;5=lH0 /,=/ B=. A-= -6703/0: 750=

    #;50603/4J9 TXC E@0:-.;4.0. /4 .0;/-30J-=

    M6A=.-6. TYC [email protected]= ;.0H:4/[email protected].

    NH.-74@J T]C O-6306/D. /@063, J4H/,

    #C A-@-:=6. T^C 20I/@=6 J0:-=/0: =:,0@0630

    )?5-8=/0 F0@4?0. W`C E.0H:4J46=. e $934?=3/0@-HJ

    )?5-8=/0 F6=0@4?0. WC F E@4/0-6R _=/=5=.0 ph _4=8H5=.0 p#;-@43,0/0. WQC +@0;460J=R (4@@05-=R %0;/4.;-@=

    c46 $4/-50 1@=J LpP G4:. WTC _4@069?=3/0@-HJ 2 e c43=@:-=

    F3-: N=./ )@8=6-.J. WWC $934?=3/0@-HJd _@9;/4.;4@-:-HJd c43=@:-= L;=@/-=559Pd %08-46055= J-3:=:0-d M.4.;4@=

    E-8J06/ E@4:H3-68 (=3/0@-= WXC #0@@=/-= \ @0: L3=6 3=H.0 ;.0H:4,0J4;/9.-.PWYC E.0H:4J46=. F \ ;-439=6-6 ?5H0h8@006

    W]C #/=;, FH@0H. \ 90554B \ E@4/0-6 FW^C $934?=3/0@-= \ ;,4/4h.34/4 3,@4J4806-3 \ 3=@-/-64-: \ 90554Bh4@=680X`C _4@609?=3/0@-HJ 2 \ ?5=3bh8@=9 \ ;.0H:4J0J?@=60 ;5=lH0 -6 /,@4=/

    XC &C 345- \ -@@0:0.306/ 8@006 .,006

    (=3/0@-=5 $4@;,45489 XQC E60HJ43433- \ 5=630/ .,=;0: :-;543433-XTC c0-..0@-= \ b-:609 ?0=6 .,=;0: :-;543433-

    XWC _=J;,954?=3/0@ \ 8H55.D B-68.h34J=.XXC O-?@-4 _,450@= \ 34J= .,=;0:XYC _4@609?=3/0@-HJ 2 \ 35H? .,=;0: L646J4/-50R 1pG4:P

    X]C [email protected]= \ .=70/9 ;-6 .006 -6 f=9.46D. ./=-6

    M635H.-46 (4:-0. X^C G=?-0. \ c08@- ?4:-0. \ -6/@=39/4;5=.J-3Y`C E4I A-@H. \ 1H=@6-0@- \ -6/@=39/4;5=.J-3 e =3-:4;,-5-3YC U#O \ _4B:@9 ?4:-0. \ -6/@=6H350=@

    #3,-./4.4J= q=;46-3HJ $46.46- YQC M6/0./-6=5 \ 346/=3/ Bh ?=: B=/0@

    #3,-./4.4J= U=0J=/45-HJ YTC O0.-3H5=@ \ 346/=3/ Bh ?=: B=/0@

    c46 UHJ=6 #3,-./4.4J YWC #B-JJ0@D. -/3, \ 346/=3/ Bh ?=: B=/0@

    _5464@3,-3,-. YXC _,-60.0 5-A0@ 75Hb0 \ 0=/-68 @=B 7-.,C +I/m E@=V-lH=6/05

    N=.3-45= U0;=/-3= YYC #,00; \ 0=/-68 @=B 7-.,C +I/m E@=V-lH=6/05

    N=.3-45= (-.b- Y]C 1-=6/ -6/0./-6=5 75Hb0. \ 0=/-68 @=B 7-.,C +I/m E@=V-lH=6/05E=@=846-JH. f0./0@J=6- Y^C %H68 75Hb0 \ 0=/-68 @=B 7-.,C +I/m E@=V-lH=6/05

    )I-:=.0 LpP ]`C c0-.0@@-= =6: J4./ 1@=J L'P.

    $-3@4 F0@4;,-5-3 ]

  • 8/11/2019 Gojan keypoints

    30/36

    "#$% (/

    $0=.50.D Q_D.

  • 8/11/2019 Gojan keypoints

    31/36

    "#$% (&

  • 8/11/2019 Gojan keypoints

    32/36

    "#$% ('

    E=@=3433-:-4-:4J934.-. 1048@=;,9 >`^C %=/-6 FJ0@-3=

    G4.045= M6703/-46R =b= >C \..GcFR 06A054;0: [email protected]>>`C p..GcFR 06A054;0:>>>>C &630;,=5-/-. [email protected] F5;,[email protected] &=./0@6 LJ4@0 .0A0@0P =6: f0./0@6 &lH-60

    &630;,=5-/-.

    N5=A-A-@-. >>QC 2068H0 N0A0@ \ -3/0@H. e ,0J4@@,=80 Bh ?5=3 A4J-/>>TC s0554B 70A0@>>WC #/C %4H-. &630;,=5-/-. \ 64 ,0;=/-/-. 4@ ,0J4@@,=80

    (H69=A-@H. >>XC \..GcFR 06A054;0:>>YC _=5-74@6-= &630;,=5-/-. \ .0A0@0 ?-7@46/=5 ,0=:=3,0.>>]C U=6/=A-@H. \ ,0J4@@,=8-3 70A0@ Bh =3H/0 @0.;C :-./@0.. .96:@4J0

    M8F E@4/0=.0 F3/-A-/9 >>^C UC M675H06V=0 L600:. 7=3/4@. O e n 74@ 8@4B/,P

    >Q`C #/@0;C E60HJ46-=0>QQ>C cC 84664@,4=0>QQC fh /,-. =3/-A-/9 /,0.0 ?H8. =@0 =?50 /4 34546-V0 /,0 4@=5 JH34.=C

    2-;,/,0@-=m F(_2&N1 >QTC F:064;=/,9>QWC &E@4;,=80 0634:0. /,0 0I4/4I-6>QXC _4@609?=3/0@-= -. _5H? .,=;0:>QYC 2-;,/,0@-=

    >Q]C &5468=/-46 N=3/4@ MM>Q^C 1@=6H50. LJ0/=3,@4J=/-3P

    )659 ..2cF >T`C E=@[email protected] ZE=@/ 47 = A-@H.[

    )659 :.GcF >TT>C Zc=b0: 74@ _EG[m [email protected] E-34@[email protected] G04A-@H.

    > 3-@3H5=@ 2cF. >TQC E=;4A=A-@H. e U0;=:6=A-@H.(* >TTC E=;[email protected] #006 -6 b-:609 /@=6.;5=6/ ;=/-06/. L3=H.0. @06=5 :-.0=.0P

    U0;=:6=R G0/@[email protected] >TWC c4R ?H/ ,=. @[email protected] /@=6.3@-;/=.0

    E-34@[email protected] ZE&G_U[ >TXC ([email protected] %3,4d A,-64d :4I.=3b-0d .0; F

    U0J4@@,=8-3 N0A0@. >>

  • 8/11/2019 Gojan keypoints

    33/36

    "#$% ((

    ## E a E=;4A=

    _-@3

    LpP GcF [email protected]. & _ a _=5-3-E a E-34@64G a G04

    _ E G N + _ '''''' -34 LpP %-60=@C N a N5=A-c4 .08J06/C G0; -6 _9/4 + a +48=

    U05-3=5 _ a _4@46=

    G'+=.0 eG0; -6 cH3

    L'P GcF [email protected]. ] N a N-54> Q ) a )@/,4J9I4

    G a G,=?:4N ) G E F ( '''' L'P & U05-3=5 E a E=@=J9I4

    %-60=@C c46 .08C F a F@06=( a (H69=

    (H550/F6/- .06.0

    U0;=/-/-. f-6:4B E0@-4: F7/0@ U?.F8 :-.=;;0=@. e (074@0 U?.F? =;;0=@.

    U0;=/-/-. F ( _ 2 &

    E-34@6= U0;=:6= N5=A- 205/= _=5-3-

    24B609 +9;0 MM 3055. &(O

    M6703/-46 ?9 F0:0. $4.lH-/4 s0554B N0A0@m [email protected] (5=3b A4J-/R o=H6:-30R ,-8, 70A0@

    ZU4/ +'(460 ./&Fb[m M%. M%< a #+0J;m .N'M%> a ./-JH5=/0 '3055.M%Q a ./-JH5=/0 T7+5$=@@4B ./0J 3055.D 8@4B/, e :-770@06/-=/-46 L1$ _#NPM%T a ./-JH5=/0 M8%Le M81P

    M%W a ./-JH5=/0 M8?Le 04.-64;,-5.P

    M%. #03@0/0: ?9 _2T. M%>R M%TR M%WR MNc 8=JJ=

    M%. #03@0/0: ?9 $=3@4;,=80. M%< e +cN $

    _W= c0H/@=5 3,0J4/=I-.Cf,06 -/ -. Bh _Q=R ;=@/-3-;=/0. -6 =6=;,95=I-.

    _W _46A0@/=.0 f,06 ?4/, F5/0@6=/-A0 =6: _5=..-3 ;=/,B=9. 34J0 /480/,0@F5/0@6=/-A0m _Q?R (?R _Q? p _Q= !_W_5=..-3m >?R Q?R _Q= p _T? !_W

    )659 G-3,0//..-= 64/ M6/@=3055H5=@ iH-6/=6=

    E5=.J4:-HJ %-70 _9350 #;4@4V4-/0.m 7@4J ?544: /4 5-A0@E@-J=@9 /-..H0 .3,-V46/+@4;,4V4-/0.m -6 G(_&@9/,@439/-3 .3,-V46/

    $0@4V4-/0m @H;/H@0: G(_1=J0/4V9/0k984/0m -6.-:0 /,0 J4.lH-/4

    F3=6/,=J40?= #/=@ .,=;0: 39./.

    $H34@R G,-V4;H.R F?.-:-= c46.0;/=/0R 7-5=J06/4H.R ^` :08@00 ?@=63,-68R -6:-=6 -6R 3=;.H5=@ ,=54.

    _@9;/43433H. c0474@J=6. $464J4@;,-3

    _=6:-:= s0=./ 64@J=559R ;.0H:4 e /@H0 ,9;,=0 -6 /-..H0 -6703/-46.

    F.;0@8-55H. NHJ-8=/HJ TW :08@00 ?@=63,-68 ;4-6/R =.43D: Bh 39./-3 [email protected]. e ?H@6. ;/

    _433-4:0. U9;,=0 -6 B-5:C F@/@4346-:-=C F@/,4346:-:= e U9;,=0C #,0@H50. Bh 06:4.;4@0.

    U-./4;5=.J= _=; U9;,=0 -6 B-5:C $-3@4346:-:= Bh /H?0@3H5=/0 J=3@4346:-:=C N=3 -6/@=3055H5=@C M6 /,0 /-..H0-/D. = 90=./ Bh = .J=55 603bC

    (5=./4J934.-. U9;,=0 -6 B-5:

    #;4@4/,@-I #3,06b-- U9;=,0 -6 B-5:C E4/=. -4:-:0 -6 J-5bC E60HJ46-= -6 =534,45-3.C

    E_E )?5-8=/0 ;=@=.-/0C *-55. /9;0 M ;60HJ4 3055.C 1@4H6: 85=..

  • 8/11/2019 Gojan keypoints

    34/36

    "#$% ()

    1@=J L'P (H8. Bh &I4/4I-6. &C _45-d OC _,450@=d (4@:0/055= E0@/H..-.

    20@J=/4;,9/0. +@-3,4;,9/46m #Uc03?1=3@65 98

    A?3B%=61?CD21;5 9:

    E3;%# 2#F@>5 ?%=6#;%;2 C#3= 41>>+@=6.J-..-46 2-=864.-.

    &C U-./45-/-3= _9./. +@4;,4V4-/0. 4@ 39./. -6 ./445

    1-=@:-= _9./. +@4;,4V4-/0. 4@ 39./. -6 ./445

    _@9;/4.;4@-:-HJ _9./. F3-: 7=./ 4439./.

    (=5=6/-HJ _C _9./. +@4;,4V4-/0. 4@ 39./. -6 ./445

    +@-3,4J46=. OC +@4;,4V4-/0. $4/-50 /@4;,4V4-/0.N0A0@ N0A0@ #;-b0

    O-A=I (06-86 Q :08@00. T], &65=@80: U4./ _055

    )A=50 (06-86 Q :08@00. T], )A=5hq=880:

    $=5=@-=0 T :08@00. 47 $=5=@-=5 Y>,@@08H5=@ [email protected]/

    N=53-;=@HJ $=5-86=6/ Q :08@00.

    $-.3055=604H.C E&D. =@0 74H6: -6 ,=57 47 =55 =H/4;.-0.

    QC [email protected]@D. %=Bm /HJ4@. /,=/ 4?./@H3/ /,0 34JJ46 ?-50 :H3/ 3=H.0 065=@80: 8=55?5=::[email protected] ?H/ 4?./@H3/-688=55./460. :4 64/ L/44 JH3, .3=@@-68PR .4 -7 94H 3=6 ;=5;=/0 /,0 8=55?5=::0@ 94HD0 ;@4?=?59 544b-68 =/ 3=630@C

    TC )659 2cF A-@H. /4 @0;5-3=/0 -6 39/4;5=.Jm E4I

    WC )659 GcF A-@H. /4 @0;5-3=/0 -6 6H350H.m M675H06V=

    XC (=3-55H. =6/,@=3-.,=. /,0 4659 ;@4/0-6 3=;.H50

    YC (4@:0/055= ;0@/H..-.Lf,44;-68 _4H8,P 05-3-/. 59J;,439/4.-. @=/,0@ /,=6 8@=6H5439/4.-.

    ]C (@463,-4=5A045=@ 3=@3-64J=. 8@4B B-/,4H/ :0./@49-68 /,0 64@J=5 =@3,-/03/H@0 47 /,0 5H68

    ^C _@9;/43433H. 60474@J=6.47/06 5=3b. = 3=;.H50 =6:R B,06 ./=-60: B-/, 1$#R 544b. oH./ 5-b0 E60HJ93-./-.

    3=@-6--R 0I30;/ /,=/ _@9;/43433H.5=3b. /,0 ;@4J-606/ 6H35045-C

    >C + 3055. + 3055 ;@45-7R M% > ;@4:R 39/4/4I-3-/9

    'H;7@ "H88@5667@

  • 8/11/2019 Gojan keypoints

    35/36

    "#$% (*

    G? >>l c0H@47-?@4J=/4.-. /9;0 > a ?-5=/0@=5 =34H./-3 60H@4J=

    (136/72703 %`H*4/7+6G0.-./=630 -6 #[email protected] F:: =55

    G0.-./=630 -6 E=@=5505m M6A0@/ /,0 =6.B0@

    A%W?$F

    N-5/@=/-46 N@=3/-46 a!"#

    $#! 1NGm 154J0@H5=@ N-5/@=/-46 G=/0 GENm G06=5 E5=.J= N54B

    N-5/0@0: %4=: a 1NG I g_463j &I3@0/-46 G=/0 a g"@-60j I O05"@-60

    _50=@=630 a!"

    #$!"

    "%&'(&

    )*+,-./-%)*+,-4@

    !""%&'(&

    0.1*-2+3, _50=@=630 47 EFU a g&GENj &GENm &77 @06=5 ;5=.J= 754B

    G06=5 (544: N54B a412

    0!"#

    %% N@00 f=/0@ _50=@=630 a O05"@-60'

    #$

    #$#$

    3'("

    5*+,-./-%3'()*+,-

    :?AE_NF

    _) a UG I #O _) a6+77-*-,1-/8"5%(3,&*9:

    13,'5(-68

    &

    #$&

    % EH5.0 [email protected]@0 a #9./45-3 \ 2-=./45-3

    $FE a 2-=./45-3 p a g)>j EF_)>a F5AC [email protected] )7 _)> G a G0.;C &I3,=680 G=/-413,'5(-68

    >*3651-6=8

    &

    &) C] 4@

  • 8/11/2019 Gojan keypoints

    36/36

    N54B a6+77-*-,1-:23/8

    13,'5(-68

    &

    & O058=.2-77H.-46 a

    ;?+1@,-''

    :*-&I 1=. 2-77H.-46 _46./=6/ I 2-770@0630 47 E=@/-=5

    E@0..

    O06/+4/a O06/+-:=5I {47 G0.;-@=/-46. O06/F5Aa LO06/+-:=5\ O06/20=:P I { 47 G0.;-@=/-46.

    _4J;5-=630 a

    -''

    /3%

    '(

    E a

    !&6+5'

    ;-,'+3,