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Image Features Image Features Local, meaningful, detectable parts of the image. • Edge detection • Line detection • Corner detection Motivation • Information content high • Invariant to change of view point, illumination • Reduces computational burden • Uniqueness • Can be tuned to a task at hand Some slides from S. Lazebnik, D. Forsythe & Ponce Previously filtering, issues of scale – how to go from Output of filters to edges ? There are three major issues in edge detection: 1) The gradient magnitude at different scales is different; which should we choose? 2) The gradient magnitude is large along thick trail; how do we identify the significant points? 3) How do we link the relevant points up into curves? Computer Vision - A Modern Approach Slides by D.A. Forsyth The Canny edge detector original image Slide credit: Steve Seitz The Canny edge detector norm of the gradient The Canny edge detector thresholding The Canny edge detector How to turn these thick regions of the gradient into curves? thresholding We wish to mark points along the curve where the magnitude is biggest. We can do this by looking for a maximum along a slice normal to the curve (non-maximum suppression). These points should form a curve. There are then two algorithmic issues: at which point is the maximum, and where is the next one? Computer Vision - A Modern Approach Slides by D.A. Forsyth Canny Edge Detector Before: • Edge detection involves 3 steps: – Noise smoothing – Edge enhancement – Edge localization • J. Canny formalized these steps to design an optimal edge detector • How to go from derivatives to edges ? Horizontal edges Edge Detection original image gradient magnitude Canny edge detector • Compute image derivatives • if gradient magnitude > τ and the value is a local maximum along gradient direction – pixel is an edge candidate Algorithm Canny Edge detector • The input is image I; G is a zero mean Gaussian filter (std = σ) 1. J = I * G (smoothing) 2. For each pixel (i,j): (edge enhancement) – Compute the image gradient » ∇J(i,j) = (Jx(i,j),Jy(i,j))’ – Estimate edge strength 2 2 1/2 » es(i,j) = (Jx (i,j)+ Jy (i,j)) – Estimate edge orientation » eo(i,j) = arctan(Jx(i,j)/Jy(i,j)) • The output are images Es - Edge Strength - Magnitude • and Edge Orientation E o - • Es has large values at edges: Find local maxima • … but it also may have wide ridges around the local maxima (large values around the edges) Th NONMAX_SUPRESSION Edge orientation • The inputs are Es & Eo (outputs of CANNY_ENHANCER) • Consider 4 directions D={ 0,45,90,135} wrt x • For each pixel (i,j) do: 1. Find the direction d∈D s.t. d≅ Eo(i,j) (normal to the edge) 2. If {Es(i,j) is smaller than at least one of its neigh. along d} • IN(i,j)=0 • Otherwise, IN(i,j)= Es(i,j) • The output is the thinned edge image IN Graphical Interpretation x x Thresholding • Edges are found by thresholding the output of NONMAX_SUPRESSION • If the threshold is too high: – Very few (none) edges • High MISDETECTIONS, many gaps • If the threshold is too low: – Too many (all pixels) edges • High FALSE POSITIVES, many extra edges SOLUTION: Hysteresis Thresholding Es(i,j)>L Es(i,j)<H Es(i,j)> H Es(i,j)>L Es(i,j)<L Canny Edge Detection (Example) gap is gone Strong + Original connected image weak edges Strong Weak edges edges only courtesy of G. Loy Recap: Canny edge detector 1. Filter image with derivative of Gaussian 2. Find magnitude and orientation of gradient 3. Non-maximum suppression: – Thin wide “ridges” down to single pixel width 4. Linking and thresholding (hysteresis): – Define two thresholds: low and high – Use the high threshold to start edge curves and the low threshold to continue them • MATLAB: edge(image, ‘canny’); J. Canny, A Computational Approach To Edge Detection, IEEE Trans. Pattern Analysis and Machine Intelligence, 8:679-714, 1986. Computer Vision - A Modern Approach Set: Linear Filters Slides by D.A. Forsyth fine scale high threshold Computer Vision - A Modern Approach Set: Linear Filters Slides by D.A. Forsyth coarse scale, high threshold Computer Vision - A Modern Approach Set: Linear Filters Slides by D.A. Forsyth coarse scale low threshold Computer Vision - A Modern Approach Set: Linear Filters Slides by D.A. Forsyth Other Edge Detectors (2nd order derivative filters) Second-order derivative filters (1D) • Peaks of the first-derivative of the input signal, correspond to “zero-crossings” of the second-derivative of the input signal. F(x) F ’(x) F’’(x) x Edge detection, Take 2 f Edge Second derivative d 2 g of Gaussian dx 2 (Laplacian) 2 d Edge = zero crossing f ∗ g dx2 of second derivative Source: S. Seitz NOTE: • F’’(x)=0 is not enough! • F’(x) = c has F’’(x) = 0, but there is no edge • The second-derivative must change sign, -- i.e. from (+) to (-) or from (-) to (+) • The sign transition depends on the intensity change of the image – i.e. from dark to bright or vice versa. Edge Detection (2D) y 1D F(x) 2D x I(x) x I(x,y) | I(x,y)| =(I 2(x,y) + I 2(x,y))1/2 > Th dI(x) > Th ∇ x y dx tan θ = Ix(x,y)/ Iy(x,y) d2I(x) = 0 ∇2I(x,y) =I (x,y) + I (x,y)=0 dx2 x x yy Laplacian Laplacian operator: sum on unmixed second derivatives Simple discrete approximation d2f [f(x + 1) f(x)] [f(x) f(x 1)] dx2 ⇡ − − − − = f(x + 1) 2f(x)+f(x 1) − − Same as convolution in x-dimension (and y-dim) with 0 0 0 0 1 0 0 0 0 + = 1 -2 1 0 -2 0 1 -4 1 0 0 0 0 1 0 0 0 0 Too sensitive to noise – first smooth with Gaussian CS223b, Jana Kosecka Notes about the Laplacian: • ∇2I(x,y) is a SCALAR – ↑ Can be found using a SINGLE mask – ↓ Orientation information is lost • ∇2I(x,y) is the sum of unmixed SECOND-order derivatives - rotationally invariant – But taking derivatives increases noise – Very noise sensitive! • It is always combined with a smoothing operation: LOG Filter • First smooth (Gaussian filter), • Then, find zero-crossings (Laplacian filter): – O(x,y) = ∇2(I(x,y) * G(x,y)) • Using linearity: – O(x,y) = ∇2G(x,y) * I(x,y) – This filter is called: “Laplacian of the Gaussian” (LOG) 1D Gaussian x2 − g(x) = e 2σ 2 x2 x2 1 − 2 x − 2 g'(x) = − 2xe 2σ = − e 2σ 2σ 2 σ 2 First Derivative of a Gaussian x2 x2 1 − 2 x − 2 g'(x) = − 2xe 2σ = − e 2σ 2σ 2 σ 2 Positive Negative As a mask, it is also computing a difference (derivative) Second Derivative of a Gaussian 2 x 2 2 y 2 − x 1 − 2 y 1 2 g''(x) = ( − )e 2σ g''(y) = ( − )e 2σ σ4 σ2 σ4 σ2 € € 2D “Mexican Hat” sigma=4 LOG zero crossings contrast=1 contrast=4 sigma=2 We still have unfortunate behaviour at corners Filters are templates • Applying a filter at some • Insight point can be seen as taking – filters look like the effects a dot-product between the they are intended to find image and some vector – filters find effects they look • Filtering the image is a set of like dot products Computer Vision - A Modern Approach Set: Linear Filters Slides by D.A. Forsyth Positive responses Zero mean image, -1:1 scale Zero mean image, -max:max scale The filter is the small block at the top left corner Positive responses Zero mean image, -1:1 scale Zero mean image, -max:max scale Filter Bank Leung & Malik, Representing and Recognizing the Visual Apperance using 3D Textons, IJCV 2001 Application: Hybrid Images Gaussian Filter Laplacian Filter • A. Oliva, A. Torralba, P.G. Schyns, “Hybrid Images,” SIGGRAPH 2006 Edge detection is just the beginning… image human segmentation gradient magnitude • Berkeley segmentation database: http://www.eecs.berkeley.edu/Research/Projects/CS/vision/grouping/segbench/ Low-level edges vs. perceived contours Background Texture Shadows Kristen Grauman, UT-Austin Finding Corners Intuition: • Right at corner, gradient is ill defined. • Near corner, gradient has two different values. Formula for Finding Corners We look at matrix: Gradient with respect to x, times Sum over a small region, the gradient with respect to y hypothetical corner I 2 I I & ∑ x ∑ x y # C = $ 2 ! I I I %$∑ x y ∑ y "! Matrix is symmetric First, consider case where: I 2 I I 0 & ∑ x ∑ x y # &λ1 # C = $ 2 ! = I I I $ 0 ! %$∑ x y ∑ y "! % λ2 " This means all gradients in neighborhood are: (k,0) or (0, c) or (0, 0) (or off-diagonals cancel). What is region like if: 1. l1 = 0? 2. l2 = 0? 3. l1 = 0 and l2 = 0? 4. l1 > 0 and l2 > 0? General Case: From Linear Algebra, it follows that because C is symmetric: −1 &λ1 0 # C = R $ !R % 0 λ2 " With R a rotation matrix. So every case is like one on last slide. Corner detection • Filter image. • Compute magnitude of the gradient everywhere. • We construct C in a window. • Use Linear Algebra to find λ1 and λ2. • If they are both big, we have a corner. • Key property: in the region around a corner, image gradient has two or more dominant directions • Corners are repeatable and distinctive Corner Detection: Basic Idea • We should easily recognize the point by looking through a small window • Shifting a window in any direction should give a large change in intensity “flat” region: “edge”: “corner”: no change in no change along significant all directions the edge change in all Source: A.
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