real-time tracking with featuressurf ransac random sample consensus least-squares least-squares...
TRANSCRIPT
![Page 1: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/1.jpg)
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
![Page 2: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/2.jpg)
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
![Page 3: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/3.jpg)
Real-time trackingExamples
Which norm should we use?
SIFT (review)Estimating transformationsRANSAC (review)SURF
SIFT
Petter Strandmark Real-time Tracking with Features
![Page 4: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/4.jpg)
Real-time trackingExamples
Which norm should we use?
SIFT (review)Estimating transformationsRANSAC (review)SURF
Estimating transformations
Petter Strandmark Real-time Tracking with Features
![Page 5: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/5.jpg)
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
![Page 6: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/6.jpg)
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
![Page 7: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/7.jpg)
Real-time trackingExamples
Which norm should we use?
Successful examplesFailuresMultiple objects
“David”Tracking example
Petter Strandmark Real-time Tracking with Features
![Page 8: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/8.jpg)
Real-time trackingExamples
Which norm should we use?
Successful examplesFailuresMultiple objects
Tracking vs. recognition
Recognition
Tracking
Petter Strandmark Real-time Tracking with Features
![Page 9: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/9.jpg)
Real-time trackingExamples
Which norm should we use?
Successful examplesFailuresMultiple objects
“All-Bran”Result
Petter Strandmark Real-time Tracking with Features
![Page 10: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/10.jpg)
Real-time trackingExamples
Which norm should we use?
Successful examplesFailuresMultiple objects
“Pedestrian”Result
Petter Strandmark Real-time Tracking with Features
![Page 11: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/11.jpg)
Real-time trackingExamples
Which norm should we use?
Successful examplesFailuresMultiple objects
RotationIs handled well
Petter Strandmark Real-time Tracking with Features
![Page 12: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/12.jpg)
Real-time trackingExamples
Which norm should we use?
Successful examplesFailuresMultiple objects
IlluminationSIFT descriptors are invariant to illumination
Petter Strandmark Real-time Tracking with Features
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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
![Page 14: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/14.jpg)
Real-time trackingExamples
Which norm should we use?
Successful examplesFailuresMultiple objects
Untextured ObjectsUnable to extract SIFT features
Petter Strandmark Real-time Tracking with Features
![Page 15: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/15.jpg)
Real-time trackingExamples
Which norm should we use?
Successful examplesFailuresMultiple objects
Multiple objectsWithout any modification
Petter Strandmark Real-time Tracking with Features
![Page 16: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/16.jpg)
Real-time trackingExamples
Which norm should we use?
Successful examplesFailuresMultiple objects
Multiple objectsAdditional considerations
Petter Strandmark Real-time Tracking with Features
![Page 17: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/17.jpg)
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
![Page 18: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/18.jpg)
Real-time trackingExamples
Which norm should we use?
Line fittingPanorama stitching
Which norm should we use?
Petter Strandmark Real-time Tracking with Features
![Page 19: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/19.jpg)
Real-time trackingExamples
Which norm should we use?
Line fittingPanorama stitching
Which norm should we use?
|| · ||∞
Petter Strandmark Real-time Tracking with Features
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Real-time trackingExamples
Which norm should we use?
Line fittingPanorama stitching
Which norm should we use?
|| · ||2
Petter Strandmark Real-time Tracking with Features
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Real-time trackingExamples
Which norm should we use?
Line fittingPanorama stitching
Which norm should we use?
|| · ||1
Petter Strandmark Real-time Tracking with Features
![Page 22: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/22.jpg)
Real-time trackingExamples
Which norm should we use?
Line fittingPanorama stitching
Which norm should we use?
Petter Strandmark Real-time Tracking with Features
![Page 23: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/23.jpg)
Real-time trackingExamples
Which norm should we use?
Line fittingPanorama stitching
Which norm should we use?
|| · ||∞
Petter Strandmark Real-time Tracking with Features
![Page 24: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/24.jpg)
Real-time trackingExamples
Which norm should we use?
Line fittingPanorama stitching
Which norm should we use?
|| · ||2
Petter Strandmark Real-time Tracking with Features
![Page 25: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/25.jpg)
Real-time trackingExamples
Which norm should we use?
Line fittingPanorama stitching
Which norm should we use?
|| · ||1
Petter Strandmark Real-time Tracking with Features
![Page 26: Real-time Tracking with FeaturesSURF RANSAC RAndom SAmple Consensus Least-squares Least-squares RANSAC Petter Strandmark Real-time Tracking with Features. Real-time tracking Examples](https://reader034.vdocuments.site/reader034/viewer/2022042712/5fa006ad7e508e0aed3a09eb/html5/thumbnails/26.jpg)
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