prmu 201312 subpixel object detection survey

1. Machine Vision Group , 1 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved.

2. Machine Vision Group GAP 20% ViewMVASSII 2 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 3. Machine Vision Group 3 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 4. Machine Vision Group x y94.4279113.77254 -10.14221.0 scale:023 (,) 4 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 5. Machine Vision Group AR5 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 6. Machine Vision Group ICPRecOcaOon PTAM KinectFusion SfM,SLAM SfM,SLAM 6 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 7. Machine Vision Groupby SIFThttp://www.slideshare.net/hironobufujiyoshi/miru2013sifthttp://www.vision.cs.chubu.ac.jp/CVTutorial/ MIRU2013 2013729 ()1 by Intelligent Sensing Laboratory, Chukyo University19 2013612http://isl.sist.chukyo-u.ac.jp/Archives/SSII2013TS-Hashimoto.pdf [email protected] http://isl.sist.chukyo-u.ac.jp/Google by 48Template Matching 981SSII20122012/6/613:45 15:45 (120 )http://www.slideshare.net/ttamaki/ssii2012-2d3d31 2D&3D12@ttttamaki@[email protected]@aoki-medialab.org1 SSII20122D&3D 2012 Toru Tamaki7 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 8. Machine Vision Group FA(FactoryAutomaOon) LSIFPD(FlatPanelDisplay)PV(Photovoltaics) mm=0.1[pix]0.01[pix] AR 0.5 8 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 9. FPDMachine Vision Group AB AB 9 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 10. Machine Vision GroupSemiconductor SUMCOHP10 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved.G450C 11. Machine Vision GroupSurface Mountwikipedia 11 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 12. Machine Vision GroupRobotic AssemblyFUNACHP 12 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 13. Machine Vision GroupAugmented RealityMetaio,inc 13 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 14. Machine Vision Group800.0 WorldWideMachineVisionIndustry600.0SEMI AUTO400.0 200.0 0.0 20092010AutomoOve Packaging Semiconductor&Electronics201120122013Cehmical&PharmaceuOcal Photovoltaics Others20142015Food&Beverage RoboOcssource:HISIMSResearch 14 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 15. Machine Vision GroupMNXHPView2013 / 1/10-1/100pix Alignmentmark15 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 16. Machine Vision Group 198019902000MSERs ()Hough ARtoolKit ()/2(ECC) H.263 (NCC)(OCM),DOT, RIPOCICP Lucas-Kanade KLTtrackerASMs, AAMs, ESM, MULKHarris, SIFT, FAST / : RANSAC, SfM OpenCV HALCON 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved.16 17. Machine Vision Group 17 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 18. Machine Vision Group 18 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 19. Machine Vision Group (NCC; Normalized Cross Correlation) (SAD/SSD; Sum of Absolute/Squared Difference) (/ISM/OCM, HOG, DOT) (POC; Phase Only Correlation) (FFTIFFT) 19 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 20. Machine Vision Group 20 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 21. Machine Vision Group1 f( ) x f( 1) - -1f( 1) -f(1) f(0) 0 xsubf( ) x+1xf(1) f(0) -10 xsub+1xSAD/SSD SADSSD 21 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 22. Machine Vision Group1 [Ikram 1999]f( ) xf( ) x f(0) f(0) f(1) f( 1) - -10 xsub+1f(1) f( 1) -x -10 xsub+1x22 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 23. Machine Vision Group xyxy p( x, y ) = ax 2 + bxy + cy 2 + dx + ey + f [2004] 23 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 24. Machine Vision GroupECC[2001]SAD X[pix] 24 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 25. Machine Vision Group 25 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 26. Machine Vision GroupFFT (fftw, MKL:Intel Math Kernel Library, cuFFTW) 512512I@core i7 2.4GHzfftwtime[ms] time[ms] 1 3.98 1 3.38 2 2.31 2 2.01 3 1.81 3 1.68 4 1.33 4 1.39 fftwcuFFTW : 1.08[ms] @GeForce GT640MKLtime[ms] (double)time[ms] 1 7.54 1 6.74 2 4.58 2 3.91 3 3.36 3 3.04 4 2.54 4 2.70 8.00 7.00[msec](float)MKLICC_float VC_float ICC_double VC_double6.00 5.004.00 3.002.00 1.00 0.00123426 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 27. Machine Vision Group (POC) IFFT * 1 F G : f * g g ( f , g ) = F f POC F G * 1/100[pix] (RIPOC) [2011]2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved.27 28. Machine Vision Group 28 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 29. Machine Vision Group 29 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 30. Machine Vision Group p p* T(x) I(W(x;p)) W30 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 31. Machine Vision GroupLucas-Kanade (1981) Step1:JStep2:pp+p Lucas-KanadeGauss-Newton:H=JTJ, H = ISteepestDescent,H=JTJ + JTJLevenberg-Marquardt GaussNewtonLevenberg-Marquardt 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved.31 32. Machine Vision GroupLucas-Kanade () () FromTo32 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 33. Machine Vision GroupInverse Compositional (Baker, 2001) T(W(x;p)) I(W(x;p)) WS. Baker and I. Matthews, Lucas-Kanade 20 Years On: A Unifying Framework, IJCV, vol.56, no.3, pp.221255, 2004. 33 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 34. Machine Vision GroupInverse Compositional Step1:Step2:WW(x;p)W(x;p) LK S. Baker and I. Matthews, Lucas-Kanade 20 Years On: A Unifying Framework, IJCV, vol.56, no.3, pp.221255, 2004. 34 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 35. Machine Vision GroupEfficient Second-order Minimization (Malis, 2004)/Step1:Step2: Step3:Step2Step1 Step4:E. Malis, Improving vision-based control using efficient second-order minimization techniques, IEEE International Conference on Robotics and Automation, vol.2, pp.18431848, 2004. S. Benhimane and E. Malis, Real-time image-based tracking of planes using efficient second-order minimization, IROS04, vol.1, pp.943948, 2004. C. Mei, S. Benhimane, E. Malis, and P. Rives, Effi- cient Homography-Based Tracking and 3-D Reconstruc- tion for Single-Viewpoint Sensors, IEEE 35 Transactions on Robotics, vol.24, no.6, pp.13521364, 2008. 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 36. Machine Vision GroupESM (ICRA,IROS) Computervision InverseComposiOonal Mei(2008) state-of-the-art36 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 37. Machine Vision Group (MILKbyDowson(2008)) (Ito(2011),Jin(2005),ESM-blurbyPark(2009) ) Levenberg-Marquarldt(MILKbyDowson(2008)) 37 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 38. Machine Vision Group 38 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 39. Machine Vision Group p p* W(p)xi ti 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved.39 40. Machine Vision GroupIterative Closest Point (Zhang, 1994) Step1: Step2: Step3: Step4:Step2-3 40 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 41. Machine Vision Group (Cootes,1996; , 2009) 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved.41 42. Machine Vision Group (Steger,2002) W (Silver,2005)W 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved.42 43. Machine Vision Group 43 2013(c)KumamotoUniv.andOMRONCorp.Allrightsreserved. 44. Machine Vision GroupFA,AR [ms]1/21/41/101/1001/101-101/100

prmu 201312 subpixel object detection survey

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