vision & recognition. from a different direction at different times, particularly if it has been...
TRANSCRIPT
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Vision & RecognitionVision & Recognition
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• From a different direction
• At different times, particularly if it has been modified in the interval
• In different light
A particular object may have different visual attributes when viewed:
ObservationsObservations
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• Be able to distinguish between different objects with the same appearance
• Be able to recognize the same object viewed from different directions or in different light
• Be able to recognize the same object after modification
• Be able to distinguish between an object and its reflection
ObjectivesObjectives
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•Pattern recognition
•Robot vision
•Remotely operated devices
•Security related software
•Disease Diagnosis
ApplicationsApplications
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The Minimum 3-D Feature Set The Minimum 3-D Feature Set
Two cubes of the same color are indistinguishable.
Cubes are distinguished by color, color count and color position
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The Minimum 3-D Feature Set The Minimum 3-D Feature Set
2 sides color ‘A’
2 sides color ‘B’
Maximum of 2 distinguishable cubes
Cubes are distinguished by color, color count and color position
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The Minimum 3-D Feature SetThe Minimum 3-D Feature Set
3 sides color ‘A’
3 sides color ‘B’
Maximum of 2 distinguishable cubes.
2 colors -> 8 cubesCubes are distinguished by color, color count and color position
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The Minimum 3-D Feature SetThe Minimum 3-D Feature Set
Like color sides opposite vs. like colored sides adjacent.
3 colors -> 27 cubes
Cubes are distinguished by color, color count and color position
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With 4 color cubes, pattern With 4 color cubes, pattern breaks. breaks.
We would expect 4We would expect 433 = 64 = 64
But we only get 42 But we only get 42 distinguishable cubes.distinguishable cubes.
Why? ---> Rotations !Why? ---> Rotations !
The Minimum 3-D Feature SetThe Minimum 3-D Feature Set
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Rotations and ReflectionsRotations and Reflections
The Eight Queens Problem
for (i = 0; i < 8; i++){
ok = 1;
pNextPair->column = i;
pPairOnTop = pTop;
while (ok = 1 && pPairOnTop != NULL){
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Q Q Q QQ Q Q Q
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Hidden patterns revealed by tiling solutions
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Horizontal Shifts
One left succeeds, all others fail to find solution
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Vertical
Shifts
One up or one down succeeds; all others fail to find a solution
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Rotation & Mirror Effects
Same object viewed from different angles
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Diagonal shifts& Mirror Effects
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Additional Mirror Effects
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Q Q Q Q QQ Q Q Q Q QHow do we determine which patterns are
significant?
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12 partitions
12 distinct solutions
Why not 96 (= 12 x 8) permutations?
The answer is that one of our partitions contains only 4 "aliases" because the solution is diagonally symmetric
Permutations of the solution Permutations of the solution vectorsvectors
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Shape detection Shape detection algorithmsalgorithms
Without color…
example universe:
assembly-line where all parts are uniformly steel-colored
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Shape detection Shape detection algorithmsalgorithms
Edge detection
Using changes in reflectivity
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Shape detection Shape detection algorithmsalgorithms
Edge detection
Edges can intersect with planes, or air
Is the background the same object or a different one?
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Shape data structShape data structuresures
Corners have “more information” per point
Collection of points and relative distances
Collection of lines and intersections
Collections of shape primitives
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Shape data structShape data structuresures
Corners can be used to define
Collections of edges and intersections
Or boundaries of planes
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Shape data structShape data structuresures
Skeletons…AKA
Wire-Frames
Advantage… easier to morph
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Shape data structShape data structuresures
Volume filling shape primitives
advantage: can easily calculate volume as sum of primitives’ volume
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There are many applications...There are many applications...
Volumes of research…Volumes of research…
And many areas yet And many areas yet unexplored...unexplored...
Vision & RecognitionVision & Recognition
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Thank you.Thank you.