View
220
Download
0
Category
Tags:
Preview:
Citation preview
Introduction to Computer Vision
Olac Fuentes
Computer Science Department
University of Texas at El Paso
El Paso TX USA
What is Computer Vision
Computer Vision is the process of extracting knowledge about the world from one or more digital images
Digital Images
are 2D arrays (matrices) of numbers
Digital ImagesColor Images are formed with three
2-D arrays representing the Red Green and Blue components of the image
Computer Vision ndash Main Tasks
bull Model generationbull Object Recognitionbull Object Detectionbull Tracking
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Pedestrians
Computer Vision ndash Object DetectionDetecting Cars
Computer Vision ndash Object DetectionHow to do it
Idea Use Machine LearningTraining
Training Set bull Positive examples are images of objects that belong to the class of
interestbull Negative examples are images of objects that donrsquot belong to that
classTrain classifier using the training set
DetectionGiven an image to analyze apply classifier to every subimage (there are lots of them so a low false positive rate is important)
Face Detection ndash Training Images
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
What is Computer Vision
Computer Vision is the process of extracting knowledge about the world from one or more digital images
Digital Images
are 2D arrays (matrices) of numbers
Digital ImagesColor Images are formed with three
2-D arrays representing the Red Green and Blue components of the image
Computer Vision ndash Main Tasks
bull Model generationbull Object Recognitionbull Object Detectionbull Tracking
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Pedestrians
Computer Vision ndash Object DetectionDetecting Cars
Computer Vision ndash Object DetectionHow to do it
Idea Use Machine LearningTraining
Training Set bull Positive examples are images of objects that belong to the class of
interestbull Negative examples are images of objects that donrsquot belong to that
classTrain classifier using the training set
DetectionGiven an image to analyze apply classifier to every subimage (there are lots of them so a low false positive rate is important)
Face Detection ndash Training Images
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Digital Images
are 2D arrays (matrices) of numbers
Digital ImagesColor Images are formed with three
2-D arrays representing the Red Green and Blue components of the image
Computer Vision ndash Main Tasks
bull Model generationbull Object Recognitionbull Object Detectionbull Tracking
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Pedestrians
Computer Vision ndash Object DetectionDetecting Cars
Computer Vision ndash Object DetectionHow to do it
Idea Use Machine LearningTraining
Training Set bull Positive examples are images of objects that belong to the class of
interestbull Negative examples are images of objects that donrsquot belong to that
classTrain classifier using the training set
DetectionGiven an image to analyze apply classifier to every subimage (there are lots of them so a low false positive rate is important)
Face Detection ndash Training Images
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Digital ImagesColor Images are formed with three
2-D arrays representing the Red Green and Blue components of the image
Computer Vision ndash Main Tasks
bull Model generationbull Object Recognitionbull Object Detectionbull Tracking
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Pedestrians
Computer Vision ndash Object DetectionDetecting Cars
Computer Vision ndash Object DetectionHow to do it
Idea Use Machine LearningTraining
Training Set bull Positive examples are images of objects that belong to the class of
interestbull Negative examples are images of objects that donrsquot belong to that
classTrain classifier using the training set
DetectionGiven an image to analyze apply classifier to every subimage (there are lots of them so a low false positive rate is important)
Face Detection ndash Training Images
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Computer Vision ndash Main Tasks
bull Model generationbull Object Recognitionbull Object Detectionbull Tracking
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Pedestrians
Computer Vision ndash Object DetectionDetecting Cars
Computer Vision ndash Object DetectionHow to do it
Idea Use Machine LearningTraining
Training Set bull Positive examples are images of objects that belong to the class of
interestbull Negative examples are images of objects that donrsquot belong to that
classTrain classifier using the training set
DetectionGiven an image to analyze apply classifier to every subimage (there are lots of them so a low false positive rate is important)
Face Detection ndash Training Images
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Pedestrians
Computer Vision ndash Object DetectionDetecting Cars
Computer Vision ndash Object DetectionHow to do it
Idea Use Machine LearningTraining
Training Set bull Positive examples are images of objects that belong to the class of
interestbull Negative examples are images of objects that donrsquot belong to that
classTrain classifier using the training set
DetectionGiven an image to analyze apply classifier to every subimage (there are lots of them so a low false positive rate is important)
Face Detection ndash Training Images
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Computer Vision ndash Object DetectionDetecting Faces
Computer Vision ndash Object DetectionDetecting Pedestrians
Computer Vision ndash Object DetectionDetecting Cars
Computer Vision ndash Object DetectionHow to do it
Idea Use Machine LearningTraining
Training Set bull Positive examples are images of objects that belong to the class of
interestbull Negative examples are images of objects that donrsquot belong to that
classTrain classifier using the training set
DetectionGiven an image to analyze apply classifier to every subimage (there are lots of them so a low false positive rate is important)
Face Detection ndash Training Images
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Computer Vision ndash Object DetectionDetecting Pedestrians
Computer Vision ndash Object DetectionDetecting Cars
Computer Vision ndash Object DetectionHow to do it
Idea Use Machine LearningTraining
Training Set bull Positive examples are images of objects that belong to the class of
interestbull Negative examples are images of objects that donrsquot belong to that
classTrain classifier using the training set
DetectionGiven an image to analyze apply classifier to every subimage (there are lots of them so a low false positive rate is important)
Face Detection ndash Training Images
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Computer Vision ndash Object DetectionDetecting Cars
Computer Vision ndash Object DetectionHow to do it
Idea Use Machine LearningTraining
Training Set bull Positive examples are images of objects that belong to the class of
interestbull Negative examples are images of objects that donrsquot belong to that
classTrain classifier using the training set
DetectionGiven an image to analyze apply classifier to every subimage (there are lots of them so a low false positive rate is important)
Face Detection ndash Training Images
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Computer Vision ndash Object DetectionHow to do it
Idea Use Machine LearningTraining
Training Set bull Positive examples are images of objects that belong to the class of
interestbull Negative examples are images of objects that donrsquot belong to that
classTrain classifier using the training set
DetectionGiven an image to analyze apply classifier to every subimage (there are lots of them so a low false positive rate is important)
Face Detection ndash Training Images
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Face Detection ndash Training Images
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Efficient Object DetectionViola amp Jones 2005
Idea 1 Classifier Structure
Build a cascade classifiers
Where stage i is simpler (and faster) than stage i+1
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Efficient Object DetectionViola amp Jones 2005
Idea 2 FeaturesUse a large number of very simple features
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Efficient Object DetectionViola amp Jones 2005
Idea 3 Feature ComputationCompute the features very efficiently using the integral image
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scales
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Efficient Object DetectionViola amp Jones 2005
Idea 4 Dealing with multiple scalesObvious solution
Build a detector for each possible scale
Better ideaBuild a detector for a single scaleDuring detection scale the image
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as features
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Efficient Object DetectionThe Modified census transform (Froba and Ernst 2004)
Used local intensity descriptors as featuresUsed simple voting classifiers and Adaboost to build a cascade of classifiers
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Efficient Object DetectionHistograms of Gradients (Dalal 2005)
Histograms of Gradients (Dalal 2005)Used histograms of oriented gradients as features
Used Support Vector Machine as classifierBest results to date
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Object Recognition
Owl
Duck
Toucan
Egret
TrainingTesting
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Object Recognition ndash Face Recognition
Eigenfaces are a set of standardized face ingredients derived from statistical analysis of many pictures of faces
First four eigenfaces from the ATampT database
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Eigenfacesbull One persons face might be made up of 10 from face 1 24 from face 2 and so on
Very few eigenvector terms are needed to give a fair likeness of most peoples faces
Eigenfaces provide a means of applying data compression to faces for identification purposes
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Eigenfacesbull Let E1En be the eigenfaces obtained from a face database
Let F1Fm be the images in our trainingtesting sets (For the training images we also know the personrsquos identity)
The attributes of Fi are given by the sum of the pixel by pixel products of Fi and E1En that is Fi is represented by n numbers [FiE1 FiE2 FiEn]
Using the attribute vectors and the class information we can now construct a classifier
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Tracking
Continuous detection of objects of interest in video streams
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Tracking
Continuous detection of objects of interest in video streams
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometry
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
ReconstructionBuild a 3D models of world given 2D Images
Most-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake images
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
ReconstructionBuild a 3D models of world given 2D ImagesMost-common Approach Stereo VisionbullInspired by human 3D perceptionbullUse two cameras of known geometrybullTake imagesbullFind correspondencesbullReconstruct using correspondences and known geometry
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Reconstruction
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Reconstruction
Problems with Stereo VisionFinding matches reliably is difficultCalibration is difficultIt hard to deal with featureless areasComputationally expensive
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Reconstruction
Microsoft to the rescue
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Reconstruction
Microsoft to the rescue
Seriously
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Reconstruction using active illumination
Project a known pattern of light at an invisible wavelength
Learn the appearance of that pattern at different distances
Fast and easy
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
ReconstructionMicrosoft Kinect
Recommended