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Pi19404
March 6, 2013
Contents
Contents
Spation Temporal Feature Detection - Fast 3D Detector 3
0.1 Introduction . . . . . . . . . . . . . . . . 0.2 Spatio-Temporal Features . . . . . . 0.2.1 Fast 3D Corner Detection . 0.2.2 Spatial Corners . . . . . . . . . . 0.2.3 Temporal Corners . . . . . . . . 0.2.4 Spatio Temporal Corner Test 0.2.5 Response Function . . . . . . . . 0.3 Code . . . . . . . . . . . . . . . . . . . . . References . . . . . . . . . . . . . . . . . . . .
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Spation Temporal Feature Detection - Fast 3D Detector It is required that the feature be as sparse as possible to reduce the computational requirement and enable us to achieve real time tracking. Potential candidates for Spatial interest points are edge pixels,points with significant changes in the neighborhood and junction of corners. Potential candidates for Patio-Temporal interest points are points which exhibit large variation in spatial as well as temporal dimensions.
For each pixel x; y given intensity I x; y and threshold The Fast2D corner detector looks at circle of 16 surrounding pixels and detects a corner if 12 contiguous pixels have intensity all above I x; y or all below I x; y .
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( )
( )+
( )
For each pixel x; y; t with intensity I x; y; t and threshold 26 directional neighbors are considered in 3D spatial and temporal space. A corner is detected is proportion of surrounding pixels have intensities that are all above I x; y; t or all below I x; y; t .
)+
The contiguous pixels criteria is not suitable for 3D and is also computationally expensive. A corner is detected when atleast I x; y; t or all below I x; y; t .
)+
50%
The strength of the Fast corner detector was quickly rejecting invalid pixels based on the constraint that pixels are required to be contiguous. For Spatio Temporal features a constraint is imposed that pixel must encounter spatial as well as temporal change
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) (
) ( +1
) (
+1 ) ( ( )+
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I x
( + @x; y + @y; t) > I (x; y; t) + orI (x + @x; y + @y; t) < I (x; y; t) I (x + @x; y + @y; t) I (x; y; t) > orI (x + @x; y + @y; t) I (x; y; t) < I (x + @x; y + @y; t) I (x; y; t) > or I (x + @x; y + @y; t) + I (x; y; t) > jI (x + @x; y + @y; t) I (x; y; t)j > P jI (x + @x; y + @y; t) I (x; y; t)j2 > ( )+ 50%
(1)
The last criteria is 13 pixels must have intensities all greater than I x; y; t or lower than I x; y; t
we compute the derivatives along x and y direction using edge detection. Ans compute the sum of magnitude of derivain the x and y direction. If this exceeds a specified threshold point is a possible candidate for corner location
)(
1) (
+ 1)
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( + 1) or I (x; y; t 1) > I (x; y; t) + I (x; y; t + 1) or I (x; y; t 1) < I (x; y; t) I (x; y; t + 1) I (x; y; t) > I (x; y; t 1) I (x; y; t) > I (x; y; t 1) I (x; y; t) < I (x; y; t + 1) I (x; y; t) < I (x; y; t 1) + I (x; y; t) > I (x; y; t + 1) + I (x; y; t) > jI (x; y; t 1) I (x; y; t)j > jI (x; y; t + 1) I (x; y; t)j > P P1 1 jI (x; y; t + k) I (x; y; t)j >
k ;
(2)
This can be checked by computing the temporal derivative using the kernel ; ; .
1 21
If the magnitude of temporal derivative is greater than threshold then it is a possible candidate for corner location. The temporal filtering is only performed for points which satisfy the spatial corners criteria.
33
)+
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0.3 Code
we define a main feature_detector base class containing methods and data common to all feature detector. the fast_3d class is derived class containing specific implementations of algorithms. The code OpenCV code can be found in code repository https://github.com/pi19404/m19404/tree/master/FEATURE_DETECTOR or https://code.google.com/p/m19404/source/browse/FEATURE_DETECTOR/
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Bibliography
Bibliography
[1] Chris Harris and Mike Stephens. A combined corner and edge detector. In: In
Proc. of Fourth Alvey Vision Conference.
[2]
S. Koelstra and I. Patras. The FAST-3D Spatio-Temporal Interest Region Detector. In: Workshop on Image Analysis for Multimedia Interactive Services. 2009, pp. 242245.
[3]
Ivan Laptev. On Space-Time Interest Points. In: Int. J. Comput. Vision 64.2-3 (Sept. 2005), pp. 107123.
7.
[4]
Jianbo Shi and C. Tomasi. Good features to track. In: Computer Vision and
Pattern Recognition, 1994. Proceedings CVPR '94., 1994 IEEE Computer Society Conference on.
doi: 10.1109/CVPR.1994.323794.
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