Feature tracking Class 5

1
Feature trackingClass 5

• Read Section 4.1 of course notes
• http//www.cs.unc.edu/marc/tutorial/node49.html
• Read Shi and Tomasis paper on good features to
  track
• http//www.unc.edu/courses/2004fall/comp/290/089/p
  apers/shi-tomasi-good-features-cvpr1994.pdf
• Read Lowes paper on SIFT features
• http//www.unc.edu/courses/2004fall/comp/290/089/p
  apers/Lowe_ijcv03.pdf

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Dont forget Assignment 1(due by next Tuesday
before class)

• Find a camera
• Calibration approach 1
• Build/use calibration grid (2 orthogonal planes)
• Perform calibration using (a) DLT and (b)
  complete gold standard algorithm (assume error
  only in images, model radial distortion, ok to
  click points by hand)
• Calibration approach 2
• Build/use planar calibration pattern
• Use Bouguets matlab calibration toolbox
  (Zhangs approach)
• http//www.vision.caltech.edu/bouguetj/calib_doc/
• (or implement it yourself for extra points)
• Compare results of approach 1(a),1(b) and 2
• Make short report of findings and be ready to
  discuss in class

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Single view metrology

• Allows to relate height of point to height of
  camera

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Single view metrology

• Allows to transfer point from one plane to another

5
Feature trackingClass 5

• Read Section 4.1 of course notes
• http//www.cs.unc.edu/marc/tutorial/node49.html
• Read Shi and Tomasis paper on good features to
  track
• http//www.unc.edu/courses/2004fall/comp/290/089/p
  apers/shi-tomasi-good-features-cvpr1994.pdf
• Read Lowes paper on SIFT features
• http//www.unc.edu/courses/2004fall/comp/290/089/p
  apers/Lowe_ijcv03.pdf

6
Feature matching vs. tracking
Image-to-image correspondences are key to passive
triangulation-based 3D reconstruction
Extract features independently and then match by
comparing descriptors
Extract features in first images and then try to
find same feature back in next view
What is a good feature?
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Comparing image regions

• Compare intensities pixel-by-pixel

I(x,y)
I(x,y)
Dissimilarity measures
Sum of Square Differences
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Comparing image regions

• Compare intensities pixel-by-pixel

I(x,y)
I(x,y)
Similarity measures
Zero-mean Normalized Cross Correlation
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Feature points

• Required properties
• Well-defined
• (i.e. neigboring points should all be
  different)
• Stable across views

(i.e. same 3D point should be extracted as
feature for neighboring viewpoints)
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Feature point extraction
Find points that differ as much as possible from
all neighboring points
homogeneous
edge
corner
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Feature point extraction

• Approximate SSD for small displacement ?
• Image difference, square difference for pixel

• SSD for window

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Feature point extraction
homogeneous
edge
corner
Find points for which the following is maximum
i.e. maximize smallest eigenvalue of M
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Harris corner detector

• Use small local window
• Maximize cornerness

• Only use local maxima, subpixel accuracy through
  second order surface fitting
• Select strongest features over whole image and
  over each tile (e.g. 1000/image, 2/tile)

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Simple matching

• for each corner in image 1 find the corner in
  image 2 that is most similar (using SSD or NCC)
  and vice-versa
• Only compare geometrically compatible points
• Keep mutual best matches

What transformations does this work for?
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Feature matching example
What transformations does this work for?
What level of transformation do we need?
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Wide baseline matching

• Requirement to cope with larger variations
  between images
• Translation, rotation, scaling
• Foreshortening
• Non-diffuse reflections
• Illumination

geometric transformations
photometric changes
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Wide-baseline matching example
(Tuytelaars and Van Gool BMVC 2000)
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Lowes SIFT features
(Lowe, ICCV99)

• Recover features with position, orientation and
  scale

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Position

• Look for strong responses of DOG filter
  (Difference-Of-Gaussian)
• Only consider local maxima

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Scale

• Look for strong responses of DOG filter
  (Difference-Of-Gaussian) over scale space
• Only consider local maxima in both position and
  scale
• Fit quadratic around maxima for subpixel

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Orientation

• Create histogram of local gradient directions
  computed at selected scale
• Assign canonical orientation at peak of smoothed
  histogram
• Each key specifies stable 2D coordinates (x, y,
  scale, orientation)

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Minimum contrast and cornerness
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SIFT descriptor

• Thresholded image gradients are sampled over
  16x16 array of locations in scale space
• Create array of orientation histograms
• 8 orientations x 4x4 histogram array 128
  dimensions

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Matas et al.s maximally stable regions

• Look for extremal regions

http//cmp.felk.cvut.cz/matas/papers/matas-bmvc02
.pdf
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Mikolaczyk and Schmid LoG Features
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Feature tracking

• Identify features and track them over video
• Small difference between frames
• potential large difference overall
• Standard approach
• KLT (Kanade-Lukas-Tomasi)

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Good features to track

• Use same window in feature selection as for
  tracking itself
• Compute motion assuming it is small
• Affine is also possible, but a bit harder (6x6 in
  stead of 2x2)

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Example
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Example
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Synthetic example
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Good features to keep tracking

• Perform affine alignment between first and last
  frame
• Stop tracking features with too large errors

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Live demo

• OpenCV (try it out!)

LKdemo
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Next class triangulation and reconstruction
m1
C1
L1
Triangulation

• calibration
• correspondences