Tracking norm

Post on 22-Jan-2018

148 views 0 download

transcript

Real-time trackingExamples

Which norm should we use?

Real-time Tracking with Features

Petter Strandmark

Lund University

February 28, 2009

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Outline

1 Real-time trackingSIFT (review)Estimating transformationsRANSAC (review)SURF

2 ExamplesSuccessful examplesFailuresMultiple objects

3 Which norm should we use?Line fittingPanorama stitching

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

SIFT (review)Estimating transformationsRANSAC (review)SURF

SIFT

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

SIFT (review)Estimating transformationsRANSAC (review)SURF

Estimating transformations

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

SIFT (review)Estimating transformationsRANSAC (review)SURF

RANSACRAndom SAmple Consensus

Least−squares Least−squares RANSAC

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

SIFT (review)Estimating transformationsRANSAC (review)SURF

SURF

Gaussian Box filter Gaussian Box filter

Approximate Gaussians with box filters.

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Successful examplesFailuresMultiple objects

“David”Tracking example

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Successful examplesFailuresMultiple objects

Tracking vs. recognition

Recognition

Tracking

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Successful examplesFailuresMultiple objects

“All-Bran”Result

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Successful examplesFailuresMultiple objects

“Pedestrian”Result

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Successful examplesFailuresMultiple objects

RotationIs handled well

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Successful examplesFailuresMultiple objects

IlluminationSIFT descriptors are invariant to illumination

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Successful examplesFailuresMultiple objects

OcclusionsOnly a subset of the SIFT descriptors need to be found

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Successful examplesFailuresMultiple objects

Untextured ObjectsUnable to extract SIFT features

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Successful examplesFailuresMultiple objects

Multiple objectsWithout any modification

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Successful examplesFailuresMultiple objects

Multiple objectsAdditional considerations

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Successful examplesFailuresMultiple objects

Multiple objectsOnly add points within a single frame when updating

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Line fittingPanorama stitching

Which norm should we use?

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Line fittingPanorama stitching

Which norm should we use?

|| · ||∞

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Line fittingPanorama stitching

Which norm should we use?

|| · ||2

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Line fittingPanorama stitching

Which norm should we use?

|| · ||1

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Line fittingPanorama stitching

Which norm should we use?

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Line fittingPanorama stitching

Which norm should we use?

|| · ||∞

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Line fittingPanorama stitching

Which norm should we use?

|| · ||2

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Line fittingPanorama stitching

Which norm should we use?

|| · ||1

Petter Strandmark Real-time Tracking with Features

Real-time trackingExamples

Which norm should we use?

Line fittingPanorama stitching

Resources

Course home page

SURFmex :http://users.student.lth.se/p04pst/surfmex.html

YALMIP optimization package :http://control.ee.ethz.ch/~joloef/wiki/pmwiki.php

Petter Strandmark Real-time Tracking with Features