o bj c ut & pose cut cvpr 05 eccv 06 philip torr m. pawan kumar, pushmeet kohli and andrew...
TRANSCRIPT
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OBJ CUT & Pose CutCVPR 05ECCV 06
Philip TorrM. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman
UNIVERSITYOF
OXFORD
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Conclusion
• Combining pose inference and segmentation worth investigating. (tommorrow)
• Tracking = Detection
• Detection = Segmentation
• Tracking (pose estimation) = Segmentation.
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Segmentation
• To distinguish cow and horse?
First segmentation problem
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Aim• Given an image, to segment the object
Segmentation should (ideally) be• shaped like the object e.g. cow-like• obtained efficiently in an unsupervised manner• able to handle self-occlusion
Segmentation
ObjectCategory
Model
Cow Image Segmented Cow
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Challenges
Self Occlusion
Intra-Class Shape Variability
Intra-Class Appearance Variability
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MotivationMagic Wand
Current methods require user intervention• Object and background seed pixels (Boykov and Jolly, ICCV 01)• Bounding Box of object (Rother et al. SIGGRAPH 04)
Cow Image
Object Seed Pixels
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MotivationMagic Wand
Current methods require user intervention• Object and background seed pixels (Boykov and Jolly, ICCV 01)• Bounding Box of object (Rother et al. SIGGRAPH 04)
Cow Image
Object Seed Pixels
Background Seed Pixels
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MotivationMagic Wand
Current methods require user intervention• Object and background seed pixels (Boykov and Jolly, ICCV 01)• Bounding Box of object (Rother et al. SIGGRAPH 04)
Segmented Image
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MotivationMagic Wand
Current methods require user intervention• Object and background seed pixels (Boykov and Jolly, ICCV 01)• Bounding Box of object (Rother et al. SIGGRAPH 04)
Cow Image
Object Seed Pixels
Background Seed Pixels
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MotivationMagic Wand
Current methods require user intervention• Object and background seed pixels (Boykov and Jolly, ICCV 01)• Bounding Box of object (Rother et al. SIGGRAPH 04)
Segmented Image
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Problem • Manually intensive
• Segmentation is not guaranteed to be ‘object-like’
Non Object-like Segmentation
Motivation
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Our Method• Combine object detection with segmentation
– Borenstein and Ullman, ECCV ’02– Leibe and Schiele, BMVC ’03
• Incorporate global shape priors in MRF
• Detection provides– Object Localization– Global shape priors
• Automatically segments the object– Note our method completely generic– Applicable to any object category model
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Outline
• Problem Formulation
• Form of Shape Prior
• Optimization
• Results
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Problem• Labelling m over the set of pixels D• Shape prior provided by parameter Θ
• Energy E (m,Θ) = ∑Φx(D|mx)+Φx(mx|Θ) + ∑ Ψxy(mx,my)+ Φ(D|mx,my)
• Unary terms– Likelihood based on colour– Unary potential based on distance from Θ
• Pairwise terms– Prior– Contrast term
• Find best labelling m* = arg min ∑ wi E (m,Θi)– wi is the weight for sample Θi
Unary terms Pairwise terms
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MRF
Probability for a labelling consists of• Likelihood
• Unary potential based on colour of pixel• Prior which favours same labels for neighbours (pairwise potentials)
Prior Ψxy(mx,my)
Unary Potential Φx(D|mx)
D (pixels)
m (labels)
Image Plane
x
y
mx
my
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Example
Cow Image Object SeedPixels
Background SeedPixels
Prior
x …
y …
…
…
x …
y …
…
…
Φx(D|obj)
Φx(D|bkg)Ψxy(mx,my)
Likelihood Ratio (Colour)
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Example
Cow Image Object SeedPixels
Background SeedPixels
PriorLikelihood Ratio (Colour)
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Contrast-Dependent MRF
Probability of labelling in addition has• Contrast term which favours boundaries to lie on image edges
D (pixels)
m (labels)
Image Plane
Contrast Term Φ(D|mx,my)
x
y
mx
my
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Example
Cow Image Object SeedPixels
Background SeedPixels
Prior + Contrast
x …
y …
…
…
x …
y …
…
…
Likelihood Ratio (Colour)
Ψxy(mx,my)+Φ(D|mx,my)
Φx(D|obj)
Φx(D|bkg)
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Example
Cow Image Object SeedPixels
Background SeedPixels
Prior + ContrastLikelihood Ratio (Colour)
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Our Model
Probability of labelling in addition has• Unary potential which depend on distance from Θ (shape parameter)
D (pixels)
m (labels)
Θ (shape parameter)
Image Plane
Object CategorySpecific MRFx
y
mx
my
Unary PotentialΦx(mx|Θ)
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Example
Cow Image Object SeedPixels
Background SeedPixels
Prior + ContrastDistance from Θ
Shape Prior Θ
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Example
Cow Image Object SeedPixels
Background SeedPixels
Prior + ContrastLikelihood + Distance from Θ
Shape Prior Θ
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Example
Cow Image Object SeedPixels
Background SeedPixels
Prior + ContrastLikelihood + Distance from Θ
Shape Prior Θ
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Outline
• Problem Formulation– E (m,Θ) = ∑Φx(D|mx)+Φx(mx|Θ) + ∑ Ψxy(mx,my)+ Φ(D|mx,my)
• Form of Shape Prior
• Optimization
• Results
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Detection
• BMVC 2004
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Layered Pictorial Structures (LPS)• Generative model
• Composition of parts + spatial layout
Layer 2
Layer 1
Parts in Layer 2 can occlude parts in Layer 1
Spatial Layout(Pairwise Configuration)
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Layer 2
Layer 1
Transformations
Θ1
P(Θ1) = 0.9
Cow Instance
Layered Pictorial Structures (LPS)
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Layer 2
Layer 1
Transformations
Θ2
P(Θ2) = 0.8
Cow Instance
Layered Pictorial Structures (LPS)
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Layer 2
Layer 1
Transformations
Θ3
P(Θ3) = 0.01
Unlikely Instance
Layered Pictorial Structures (LPS)
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How to learn LPS
• From video via motion segmentation see Kumar Torr and Zisserman ICCV 2005.
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LPS for Detection• Learning
– Learnt automatically using a set of examples
• Detection– Matches LPS to image using Loopy Belief Propagation– Localizes object parts
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Detection
• Like a proposal process.
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Pictorial Structures (PS)
PS = 2D Parts + Configuration
Fischler and Eschlager. 1973
Aim: Learn pictorial structures in an unsupervised manner
• Identify parts• Learn configuration• Learn relative depth of parts
Parts +Configuration +Relative depth
LayeredPictorialStructures(LPS)
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Pictorial Structures
• Each parts is a variable• States are image locations•AND affine deformation
Affine warp of parts
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Pictorial Structures
• Each parts is a variable• States are image locations • MRF favours certain
configurations
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Bayesian Formulation (MRF)
• D = image.
• Di = pixels Є pi , given li
• (PDF Projection Theorem. )
z = sufficient statistics
• ψ(li,lj) = const, if valid configuration
= 0, otherwise.
Pott’s model
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Defining the likelihood
• We want a likelihood that can combine both the outline and the interior appearance of a part.
• Define features which will be sufficient statistics to discriminate foreground and background:
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Features
• Outline: z1 Chamfer distance
• Interior: z2 Textons
• Model joint distribution of z1 z2 as a 2D Gaussian.
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Chamfer Match Score
• Outline (z1) : minimum chamfer distances over multiple outline exemplars
• dcham= 1/n Σi min{ minj ||ui-vj ||, τ }
Image Edge Image Distance Transform
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Texton Match Score
• Texture(z2) : MRF classifier – (Varma and Zisserman, CVPR ’03)
• Multiple texture exemplars x of class t
• Textons: 3 X 3 square neighbourhood• VQ in texton space• Descriptor: histogram of texton labelling• χ2 distance
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Bag of Words/Histogram of Textons
• Having slagged off BoW’s I reveal we used it all along, no big deal.
• So this is like a spatially aware bag of words model…
• Using a spatially flexible set of templates to work out our bag of words.
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2. Fitting the Model
• Cascades of classifiers– Efficient likelihood evaluation
• Solving MRF– LBP, use fast algorithm– GBP if LBP doesn’t converge– Could use Semi Definite Programming (2003)– Recent work second order cone programming
method best CVPR 2006.
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Efficient Detection of parts
• Cascade of classifiers
• Top level use chamfer and distance transform for efficient pre filtering
• At lower level use full texture model for verification, using efficient nearest neighbour speed ups.
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Cascade of Classifiers-for each part
Y. Amit, and D. Geman, 97?; S. Baker, S. Nayer 95
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High Levels based on Outline
(x,y)
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Side Note
• Chamfer like linear classifier on distance transform image Felzenszwalb.
• Tree is a set of linear classifiers.
• Pictorial structure is a parameterized family of linear classifiers.
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Low levels on Texture
• The top levels of the tree use outline to eliminate patches of the image.
• Efficiency: Using chamfer distance and pre computed distance map.
• Remaining candidates evaluated using full texture model.
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Efficient Nearest Neighbour
• Goldstein, Platt and Burges (MSR Tech Report, 2003)
Conversion from fixeddistance to rectangle search
• bitvectorij(Rk) = 1
= 0• Nearest neighbour of x• Find intervals in all dimensions• ‘AND’ appropriate bitvectors• Nearest neighbour search on pruned exemplars
Rk Є Iiin dimension j
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Recently solve via Integer Programming
• SDP formulation (Torr 2001, AI stats)
• SOCP formulation (Kumar, Torr & Zisserman this conference)
• LBP (Huttenlocher, many)
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Outline
• Problem Formulation
• Form of Shape Prior
• Optimization
• Results
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Optimization
• Given image D, find best labelling as m* = arg max p(m|D)
• Treat LPS parameter Θ as a latent (hidden) variable
• EM framework– E : sample the distribution over Θ
– M : obtain the labelling m
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E-Step
• Given initial labelling m’, determine p(Θ|m’,D)
• Problem Efficiently sampling from p(Θ|m’,D)
• Solution• We develop efficient sum-product Loopy Belief
Propagation (LBP) for matching LPS.
• Similar to efficient max-product LBP for MAP estimate– Felzenszwalb and Huttenlocher, CVPR ‘04
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Results
• Different samples localize different parts well.• We cannot use only the MAP estimate of the LPS.
![Page 55: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/55.jpg)
M-Step
• Given samples from p(Θ|m’,D), get new labelling mnew
• Sample Θi provides– Object localization to learn RGB distributions of object and background– Shape prior for segmentation
• Problem– Maximize expected log likelihood using all samples– To efficiently obtain the new labelling
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M-Step
Cow Image Shape Θ1
w1 = P(Θ1|m’,D)
RGB Histogram for Object RGB Histogram for Background
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Cow Image Shape Θ1
M-Step
w1 = P(Θ1|m’,D)
Θ1
Image PlaneD (pixels)
m (labels)
• Best labelling found efficiently using a Single Graph Cut
![Page 58: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/58.jpg)
Segmentation using Graph Cuts
x …
y … … …
z … …
Obj
Bkg
CutΦx(D|bkg) + Φx(bkg|Θ)
m
Φz(D|obj) + Φz(obj|Θ)
Ψxy(mx,my)+
Φ(D|mx,my)
![Page 59: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/59.jpg)
Segmentation using Graph Cuts
x …
y … … …
z … …
Obj
Bkg
m
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M-Step
Cow Image Shape Θ2
w2 = P(Θ2|m’,D)
RGB Histogram for BackgroundRGB Histogram for Object
![Page 61: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/61.jpg)
M-Step
Cow Image Shape Θ2
w2 = P(Θ2|m’,D)
Θ2
Image PlaneD (pixels)
m (labels)
• Best labelling found efficiently using a Single Graph Cut
![Page 62: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/62.jpg)
M-Step
Θ2
Image Plane
Θ1
Image Plane
w1 + w2 + ….
• Best labelling found efficiently using a Single Graph Cut
m* = arg min ∑ wi E (m,Θi)
![Page 63: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/63.jpg)
Outline
• Problem Formulation
• Form of Shape Prior
• Optimization
• Results
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SegmentationImage
ResultsUsing LPS Model for Cow
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In the absence of a clear boundary between object and background
SegmentationImage
ResultsUsing LPS Model for Cow
![Page 66: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/66.jpg)
SegmentationImage
ResultsUsing LPS Model for Cow
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SegmentationImage
ResultsUsing LPS Model for Cow
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SegmentationImage
ResultsUsing LPS Model for Horse
![Page 69: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/69.jpg)
SegmentationImage
ResultsUsing LPS Model for Horse
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Our Method Leibe and SchieleImage
Results
![Page 71: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/71.jpg)
AppearanceShape Shape+Appearance
Results
Without Φx(D|mx) Without Φx(mx|Θ)
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Face Detector and ObjCut
![Page 73: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/73.jpg)
Do we really need accurate models?
• Segmentation boundary can be extracted from edges
• Rough 3D Shape-prior enough for region disambiguation
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Energy of the Pose-specific MRF
Energy to be minimized
Unary term
Shape prior
Pairwise potential
Potts model
But what should be the value of θ?
![Page 75: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/75.jpg)
The different terms of the MRF
Original image
Likelihood of being foreground given a
foreground histogram
Grimson-Stauffer
segmentation
Shape prior model
Shape prior (distance transform)
Likelihood of being foreground
given all the terms
Resulting Graph-Cuts
segmentation
![Page 76: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/76.jpg)
Can segment multiple views simultaneously
![Page 77: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/77.jpg)
Solve via gradient descent
• Comparable to level set methods
• Could use other approaches (e.g. Objcut)
• Need a graph cut per function evaluation
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Formulating the Pose Inference Problem
![Page 79: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/79.jpg)
But…But…
… to compute the MAP of E(x) w.r.t the pose, it means that the unary terms will be changed at EACHEACH iteration and the maxflow recomputed!
However…However… Kohli and Torr showed how dynamic graph cuts can
be used to efficiently find MAP solutions for MRFs that change minimally from one time instant to the next: Dynamic Graph Cuts (ICCV05).
![Page 80: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/80.jpg)
Dynamic Graph Cuts
PB SB
cheaperoperation
computationally
expensive operation
Simplerproblem
PB*
differencesbetweenA and B
A and Bsimilar
PA SA
solve
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Dynamic Image Segmentation Image
Flows in n-edges Segmentation Obtained
![Page 82: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/82.jpg)
First segmentation problem MAP solution
Ga
Our Algorithm
Gb
second segmentation problem
Maximum flow
residual graph (Gr)
G`
differencebetween
Ga and Gbupdated residual
graph
![Page 83: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/83.jpg)
Dynamic Graph Cut vs Active Cuts
• Our method flow recycling
• AC cut recycling
• Both methods: Tree recycling
![Page 84: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/84.jpg)
Experimental Analysis
MRF consisting of 2x105 latent variables connected in a 4-neighborhood.
Running time of the dynamic algorithm
![Page 85: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/85.jpg)
Segmentation Comparison
Gri
mson
-G
rim
son
-S
tau
ffer
Sta
uff
er
Bath
ia0
Bath
ia0
44O
ur
Ou
r m
eth
od
meth
od
![Page 86: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/86.jpg)
Segmentation
![Page 87: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/87.jpg)
Segmentation
![Page 88: O BJ C UT & Pose Cut CVPR 05 ECCV 06 Philip Torr M. Pawan Kumar, Pushmeet Kohli and Andrew Zisserman UNIVERSITY OF OXFORD](https://reader036.vdocuments.site/reader036/viewer/2022081515/5515ea6a55034638038b5028/html5/thumbnails/88.jpg)
Conclusion
• Combining pose inference and segmentation worth investigating.
• Tracking = Detection
• Detection = Segmentation
• Tracking = Segmentation.
• Segmentation = SFM ??