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Object Recognition using Local Affine Frames on Maximally Stable Extremal Regions
Stepan Obdrzalek
Jirı Matas
Proposed Algorithm
• Identify affine-covariant regions of interest– MSER detector
• Construct local affine frames (LAFs)– Invariant to geometry and photometrics
• Normalize LAF geometry and color • Generate descriptors of patches
– Discrete cosine transformation
• Recognition & Localization– Establish tentative correspondences– Find a globally consistent subset– Infer presence and location of object
Requirement for Region Detectors• Consistent• Discriminative• Invariant (actually: covariant)
– Appearance is consistent with the transformation• scaling, rotation, shearing
– Fixed shape is insufficient– Shape must be covariant to object position (Sticky)
Popular Affine Covariant Detectors
• Harris-Affine• Hessian-Affine• Edge• Intensity Extrema• Salient Regions• MSER
Harris-affine & Hessian-affine
• Detect interest points– Identify corners in image using Harris corner detector
• Determine the “characteristic” scale – Maximization of Laplacian-of-Gaussians
• Determine an elliptical region for each point– Second moment matrix
Edge based detectorEdges are stable across view, scale, illumination• Detect interest points
– Identify corners in image using Harris corner detector– Identify edges using canny– Combine to form a parallelogram
• Determine the “characteristic” scale – Parallelograms where textures hit an extremum
Intensity based detector
• Detect interest points– Identify local extremum in intensity– Analyze rays projecting radially
• Determine the “characteristic” scale – Best-fit ellipse that passes through ray-points with large intensity shifts
Salient region detectorBased on PDF of intensity values computed over elliptical region• Detect interest points
– Measure the pixel entropy within elliptical regions– Select regions with high “complexity”
• Determine the “characteristic” scale– Optimal scale is determined by the identified region
Maximally Stable Extremal Region (MSER)Connected component of thresholded image
Efficient to implement O(number pixels)• Detect interest points
– All pixels inside the MSER have higher or lower intensities than in the surrounding regions– Regions are selected to be stable over intensity range
• Determine the “characteristic” scale – Optimal scale is automatic to MSER algorithm
Runtime comparison
Local Affine Frame (LAF) from Features
Comparing transformed image regions can be simplified by constructing a viewpoint invariant coordinate system that is feature-based • Coordinates are based on local features
– Coordinates “stick” to features – Features must describe 6 degrees of freedom– Simple points and ellipses are not sufficient– MSER regions are sufficient
• Assumptions– Local planarity– Perspective camera
Local Affine Frame (LAF) from Features
Local Affine Frame (LAF) from Features • 2D affine transformation has 6 degrees of freedom
– 6 independent constraints must be found– Correspondence of 3 non-collinear points– Constraints are derived from detected primitives
Local Affine Frame (LAF) from Features Region shape constructions• Center of gravity
– 2 constraints: resolves translation• 2x2 covariance matrix ∑(ii)
– 3 constraints: Together with COG, fixes affine up to unknown rotation• Concavities
– 4 constraints: line and point tangent to line– Don’t require detection of whole region
• Curvature inflection points–From concave to convex
• Straight line segments of boundary
Local Affine Frame (LAF) from Features
Intensity Constructions: pixels inside a region• Orientations of gradients
– Rotation
• Direction of dominant texture periodicity– Rotaion
• Extrema of RGB or any scalar function– 2 constraints
Local Affine Frame (LAF) from Features
Topology of regions: Mutual configuration of regions• Nested regions• Neighboring regions• Holes• Incident regions
LAF Construction Construction of primitives covering 6 degrees of freedom
Geometric Normalization
• Translate between canonical / image frame– Origin = (0,0)T, Basis Vectors = (1,0)T, (0,1)T
–
• Measurement Region (MR)– Image region used to determine local correspondences– (-2,3) x (-2,3)–
Photometric Normalization
• Translate between canonical / image frame– Reflections and shadows are ignored– Illumination, gain, aperture, etc. is modeled by affine transformations of color channels– Transformation between two patches I and I’ is:–
– Requires 6 additional normalization parameters
• Intensities are affinely transformed to have– zero mean– unit variance
Normalization of Local Representation
• Translate between canonical / image frame– 12 normalization parameters stored with the descriptor
• Coverage
Descriptors
• Desirable properties– Distinguish between large number of regions– Maximize ratio of similarities between match & mismatch– Robust or invariant to localization errors & transformations– Efficient on memory and speed
• Discrete Cosine Transformation (JPEG compression)– Algorithms require O(n lg n)– Hardware implementations– Robust to misalignment– Same discrimination as SIFT
Matching detected frames with query frames
• Comparison– Compute similarities between all detected and query frames
• Matching– Select most likely matches
• Verification– Consistency check that incorporates geometric constraints
Comparison
• Determine the probability that a transformation can take place
– Based on training experience
• If probability is below a threshold, ∞ similarity• Otherwise, determined by descriptor similarity
Matching
• Nearest Match– Most common– For each detected frame, find closest query frame
• Mutually Nearest Match– For symmetric matching (e.g. stereo)– For each detected, find closest query– For each query, find closest detected– Match if (close query = close detected) or (diff < threshold)
• All (or N most) similar– Repetitive structures (many ambiguous correspondences)– Keep all correspondences, resolution left to verification – High number of false correspondences
Verification
• All matches should be consistent with same model• 3D models would only be effective if visible parts of the image are very large (building interiors)• Sufficient to model as planar surfaces
– If 2 tentative correspondences are part of the same plane• Similar geometric transformation• Similar photometric transformation
• Set of all correspondences is decomposed into subsets of consistent correspondences
– Each subset represents a single plane in the scene– Small sets are rejected
Experimental Validation: COIL-100
• 100 objects• 72 images each object• 5º pose intervals• Controlled lighting
Experimental Validation: ZuBuD
• 201 buildings• 5 pictures each
Experimental Validation: FOCUS
• Product logos• Logos occupy small image portion• 360 color images
Conclusion
• Object recognition based on local measurements• Affine invariance achieved by expressing local appearance in terms of affine covariant coordinates• Promising results
• Problems– Speed is the primary issue
• All query compared to all database• Speed improved using hashing, cost may be accuracy
– Planar surface assumption– Rigid objects– Shadow, etc.