26
Real-time tracking Examples 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?
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
