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Introduction. CSc I6716 Fall 2010 3D Computer Vision. Instructor: Zhigang Zhu City College of New York [email protected]. Introduction. Course Information. Basic Information: Course participation Books, notes, etc. Web page – check often! Homework, Assignment, Exam - PowerPoint PPT Presentation
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3D Computer Vision and Video Computing Introducti on Instructor: Zhigang Zhu City College of New York [email protected] CSc I6716 Fall 2010 3D Computer Vision Introduction
Transcript
Page 1: Introduction

3D Computer Vision

and Video Computing IntroductionIntroduction

Instructor: Zhigang ZhuCity College of New [email protected]

CSc I6716Fall 2010

3D Computer Vision

Introduction

Page 2: Introduction

3D Computer Vision

and Video Computing Course InformationCourse Information

n Basic Information:l Course participationl Books, notes, etc.l Web page – check often!

n Homework, Assignment, Examl Homework and examsl Grading

n Goall What I expect from youl What you can expect from mel Resources

Page 3: Introduction

3D Computer Vision

and Video Computing BookBook

n Textbookl “Introductory Techniques for 3-D Computer Vision” Trucco

and Verri, 1998n Additional readings when necessary

l “Computer Vision – A Modern Approach” Forsyth and Ponce, 2003

l “Three-Dimensional Computer Vision: A Geometric Viewpoint” O. Faugeras, 1998

l “Image Processing, Analysis and Machine VIsion” Sonika, Hlavac and Boyle, 1999

n On-Line References

Page 4: Introduction

3D Computer Vision

and Video Computing PrequisitesPrequisites

n Linear Algebran A little Probability and Statisticsn Programming Experience n Reading Literature (A little)n An Inquisitive Nature (Curiosity)n No Fear

Page 5: Introduction

3D Computer Vision

and Video Computing Course Web PageCourse Web Page

n Lectures available in Powerpoint formatn All homework assignments will be distributed over the webn Additional materials and pointers to other web sitesn Course bulletin board contains last minute items, changes

to assignments, etc.l CHECK IT OFTEN!l You are responsible for material posted there

http://www-cs.engr.ccny.cuny.edu/~zhu/CSCI6716-2009/VisionCourse-Fall-2010.html

http://www-cs.engr.ccny.cuny.edu/~zhu/CSCI6716-2009/VisionCourse-Fall-2009.html
http://www-cs.engr.ccny.cuny.edu/~zhu/CSCI6716-2009/VisionCourse-Fall-2009.html
Page 6: Introduction

3D Computer Vision

and Video Computing Course OutlineCourse Outline

n Complete syllabus on the web pages (28 meets,10 lectures)n Rough Outline ( 3D Computer Vision):

Part 1. Vision Basics (Total 6) 1. Introduction (1) 2. Image Formation and Processing (1) (hw 1, matlab) 3-4. Features and Feature Extraction (4) ( hw 2)

Part 2. 3D Vision (Total 15) 5. Camera Models (3) 6. Camera Calibration (3)(hw 3) 7. Stereo Vision (4) (project assignments)

8. Visual Motion (4) (hw 4)

Part 3. Exam and Projects (Total 7) 9. Project topics and exam review/discussion (3) 10. Midterm exam (1) 11. Project presentations (3)

Page 7: Introduction

3D Computer Vision

and Video Computing GradingGrading

n Homework (4): 40%n Exam (midterm): 40%n Course Project + Presentation: 20%

l Groups (I or 2 students) for discussionsl Experiments – independently + collaborativelyl Written Report - independently + collaboratively

n All homework must be yours….but you can work together until the final submission

n Teaching Assistant: l Mr. Wai L. Khoo <[email protected]>

Page 8: Introduction

3D Computer Vision

and Video Computing C++ and MatlabC++ and Matlab

n C++ l For some simple computation, you may use C++

n Matlabl An interactive environment for numerical computationl Available on Computer Labs machines (both Unix and Windows)

u Matlab primer available on line (web page)u Pointers to on-line manuals also available

l Good rapid prototyping environment

n Use C++ and/or Matlab for your homework assignments and project(s); However Java will also be fine

Page 9: Introduction

3D Computer Vision

and Video Computing Course Goals and QuestionsCourse Goals and Questions

n What makes (3D) Computer Vision interesting ?

l Image Modeling/Analysis/Interpretationu Interpretation is an Artificial Intelligence Problem

Sources of Knowledge in Vision Levels of Abstraction

u Interpretation often goes from 2D images to 3D structures since we live in a 3D world

l Image Rendering/Synthesis/Compositionu Image Rendering is a Computer Graphics problemu Rendering is from 3D model to 2D images

2D images

3D world

CVCG

Page 10: Introduction

3D Computer Vision

and Video Computing Related FieldsRelated Fields

n Image Processing: image to imagen Computer Vision: Image to modeln Computer Graphics: model to image

n Pattern Recognition: image to classl image data mining/ video mining

n Artificial Intelligence: machine smartsl Machine perception

n Photogrammetry: camera geometry, 3D reconstructionn Medical Imaging: CAT, MRI, 3D reconstruction (2nd meaning)n Video Coding: encoding/decoding, compression, transmission

n Physics & Mathematics: basicsn Neuroscience: wetware to concept

n Computer Science: programming tools and skills?

All three are interrelated!

AI

Applications

basics

Page 11: Introduction

3D Computer Vision

and Video Computing ApplicationsApplications

n Visual Inspection (*) n Robotics (*)n Intelligent Image Toolsn Image Compression (MPEG 1/2/4/7)n Document Analysis (OCR)n Image and Video on the Webn Virtual Environment Construction (*)n Environment (*)n Media and Entertainmentn Medicinen Astronomyn Law Enforcement (*)

l surveillance, securityn Traffic and Transportation (*)n Tele-Conferencing and e-Learning (*)n Human Computer Interaction (HCI)

Page 12: Introduction

3D Computer Vision

and Video Computing Job MarketsJob Markets

n Homeland Securityl Port security – cargo inspection, human ID, biometricsl Facility security – Embassy, Power plant, bank l Surveillance – military or civilian

n Media Productionl Cartoon / movie/ TVs/ photographyl Multimedia communication, video conferencing

n Research in image, vision, graphics, virtual realityl 2D image processingl 3D modeling, virtual walk-thorugh

n Consumer/ Medical Industriesl Video cameras, Camcorders, Video phonel Medical imaging 2D -> 3D

Page 13: Introduction

3D Computer Vision

and Video Computing IP vs CVIP vs CV

n Image processing (mainly in 2D)l Image to Image transformationsl Image to Description transformationsl Image Analysis - extracting quantitative information from

images:u Size of a tumoru distance between objectsu facial expression

l Image restoration. Try to undo damageu needs a model of how the damage was made

l Image enhancement. Try to improve the quality of an image

l Image compression. How to convey the most amount of information with the least amount of data

Page 14: Introduction

3D Computer Vision

and Video Computing What is Computer Vision?What is Computer Vision?

Vision is the art of seeing things invisible.

-Jonathan Swift (1667-1745) "Thoughts on Various Subjects" Miscellanies in Prose and Verse (published with Alexander Pope), vol. 1, 1727

n Computer vision systems attempt to construct meaningful and explicit descriptions of the world depicted in an image.

n Determining from an image or image sequence:l The objects present in the scenel The relationship between the scene and the observerl The structure of the three dimensional (3D) space

Page 15: Introduction

3D Computer Vision

and Video Computing Cues to Space and TimeCues to Space and Time

n Spectral Characteristicsl Intensity, contrast, colors and theirl Spatial distributions

n 2D Shape of Contoursn Linear Perspectiven Highlights and Shadowsn Occlusionsn Organizationn Motion parallax and Optical Flown Stereopsis and sensor convergence

Directly Measurable in an Image

Page 16: Introduction

3D Computer Vision

and Video Computing Cues to Space and TimeCues to Space and Time

n Surface connectivityn 3D Volumen Hidden sides and partsn Identity (Semantic category)n Absolute Sizen Functional Propertiesn Goals, Purposes, and Intentsn Organizationn Trajectories

Inferred Properties

Page 17: Introduction

3D Computer Vision

and Video Computing Cues to DepthCues to Depth

n Question:l How do we perceive the three-dimensional properties of

the world when the images on our retinas are only two-dimensional?

n Stereo is not the entire story!

Page 18: Introduction

3D Computer Vision

and Video Computing Cues to DepthCues to Depth

n Monocular cues to the perception of depth in imagesl Interposition: occluding objects appear closer than occluded

objects

l Relative size: when objects have approximately the same physical size, the larger object appears closer

l Relative height: objects lower in the image appear closer

l Linear Perspective: objects appear smaller as they recede into the distanceu texture gradients

l Aerial Perspective: change in color and sharpness as object recede into the distance

l Illumination gradients: gradients and shadow lend a sense of depth

l Relative Motion: faster moving objects appear closer

Page 19: Introduction

3D Computer Vision

and Video Computing Cues to DepthCues to Depth

n Physiological cues to depth:

l Focus (accomodation): change in curvature of the lens for objects at different depths

l Convergence: eyes turn more inward (nasal) for closer objects

l Retinal disparity: greater for objects further away

Page 20: Introduction

3D Computer Vision

and Video Computing InterpositionInterposition

Page 21: Introduction

3D Computer Vision

and Video Computing InterpositionInterposition

Page 22: Introduction

3D Computer Vision

and Video Computing InterpositionInterposition

Page 23: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Page 24: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Edgar Degas: Dance Class at the Opéra, 1872

Page 25: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Edgar Degas:

Green Dancer,

c.1880

Page 26: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Edgar Degas: Frieze of Dancers, c.1895

Page 27: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Edgar Degas: Frieze of Dancers, c.1895

Page 28: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Edgar Degas: Frieze of Dancers, c.1895

Page 29: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Edgar Degas: Frieze of Dancers, c.1895

Page 30: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Edgar Degas: Frieze of Dancers, c.1895

Page 31: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Edgar Degas: Frieze of Dancers, c.1895

Page 32: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Edgar Degas: Frieze of Dancers, c.1895

Page 33: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Edgar Degas: Frieze of Dancers, c.1895

Page 34: Introduction

3D Computer Vision

and Video Computing Different viewpointDifferent viewpoint

Edgar Degas: Frieze of Dancers, c.1895

Page 35: Introduction

3D Computer Vision

and Video Computing Aerial PerspectiveAerial Perspective

n Constable

Page 36: Introduction

3D Computer Vision

and Video Computing Aerial PerspectiveAerial Perspective

n Classic Chinese Paintings

Page 37: Introduction

3D Computer Vision

and Video Computing Absolute SizeAbsolute Size

Page 38: Introduction

3D Computer Vision

and Video Computing Relative SizeRelative Size

Page 39: Introduction

3D Computer Vision

and Video Computing Relative SizeRelative Size

Page 40: Introduction

3D Computer Vision

and Video Computing Absolute SizeAbsolute Size

Page 41: Introduction

3D Computer Vision

and Video Computing Relative SizeRelative Size

Page 42: Introduction

3D Computer Vision

and Video Computing Light and SurfacesLight and Surfaces

Page 43: Introduction

3D Computer Vision

and Video Computing Light and SurfacesLight and Surfaces

Page 44: Introduction

3D Computer Vision

and Video Computing Light and SurfacesLight and Surfaces

Page 45: Introduction

3D Computer Vision

and Video Computing Light and SurfacesLight and Surfaces

Page 46: Introduction

3D Computer Vision

and Video Computing Light and SurfacesLight and Surfaces

Page 47: Introduction

3D Computer Vision

and Video Computing Light and SurfacesLight and Surfaces

n C. H. Stoelting Company

Page 48: Introduction

3D Computer Vision

and Video Computing Light and SurfacesLight and Surfaces

Page 49: Introduction

3D Computer Vision

and Video Computing Light and SurfacesLight and Surfaces

Page 50: Introduction

3D Computer Vision

and Video Computing Light and SurfacesLight and Surfaces

Page 51: Introduction

3D Computer Vision

and Video Computing Light and SurfacesLight and Surfaces

Page 52: Introduction

3D Computer Vision

and Video Computing The Effect of PerspectiveThe Effect of Perspective

Page 53: Introduction

3D Computer Vision

and Video Computing Texture GradientTexture Gradient

Sunflowers in Fargo, NDPhoto by Bruce Fitz http://www.ars.usda.gov/is/graphics/photos/

Page 54: Introduction

3D Computer Vision

and Video Computing Texture GradientsTexture Gradients

Page 55: Introduction

3D Computer Vision

and Video Computing EdgesEdges

Page 56: Introduction

3D Computer Vision

and Video Computing Texture EdgesTexture Edges

Page 57: Introduction

3D Computer Vision

and Video Computing Who KnowsWho Knows

Page 58: Introduction

3D Computer Vision

and Video Computing NextNext

Anyone who isn't confused really doesn't understand the situation.

--Edward R. Murrow

Next:Image Formation

Reading: Ch 1, Ch 2- Section 2.1, 2.2, 2.3, 2.5

Questions: 2.1. 2.2, 2.3, 2.5

Exercises: 2.1, 2.3, 2.4


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