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Automatic Car Detection. Using Statistic-based Boosting Cascade. Weilong Yang, Wei Song, Zhigang Qiao, Michael Fang. System Overview. Haar -like feature generation Integral image AdaBoost (feature selection) Limitations Statistic-based boosting ( StatBoost ) Cascade structure - PowerPoint PPT Presentation
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Automatic Car Detection
Using Statistic-based Boosting Cascade
Weilong Yang, Wei Song, Zhigang Qiao, Michael Fang
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Haar-like feature generation◦ Integral image
AdaBoost (feature selection)◦ Limitations
Statistic-based boosting (StatBoost) Cascade structure Performance evaluation
System Overview
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Features:
Training Images Set:
500 negative samples (w/o cars)
500 positive samples (with cars)
Training Image size: 40X100 pixels
imresize(X, 0.35), resize ratio, 0.35
Feature Templates:
Rectangle features were used.
Total 9 types of features were used
Integral graph was used to accelerate the calculation of rectangle features.
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Features Templates:
Edge Features: (1) (2)
Line Features: (3) (4)
Diagonal Line Features:
(5)
Corner Features: (6) (7) (8) (9)
Integral Image
B D
A C
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3
2
1
(x ,y )
yyxx
yxiyxii','
)','(),(
The sum within D can be computed as: 4 + 1 − (2 + 3).
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Features in 14X35 windows
The feature templates can be laid at any position with any possible size in the 14X35 windows.
One possible position and size of some type of feature define a feature. All the possible features form the total feature set of the 14X35 windows.
Total 177660 features
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The objective is to learn a sequence of best weak classifiers and the best combining weights
Each weak classifier is constructed based on one feature (1D).
Key Concepts of AdaBoost
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AdaBoost (illustrated)
Weak classifier 3
Final classifier: linear combination of the weak classifiers
WeightsIncreased
Weak Classifier 2
Weak Classifier 1
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Formal Procedure of AdaBoost
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It takes WEEKS to train!
Computational Issue
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The Bottleneck
Factor
Description Common value
N number of examples
10,000
M number of weak classifiers in total
4,000 - 6,000
T number of Haar-like features
40,000
A view of a face detector training algorithm
for weak classifier m from 1 to M:…update weights – O(N)for feature t from 1 to T:
compute N feature values – O(N)sort N feature values – O(N log N)train feature classifier – O(N)
select best feature classifier – O(T)…
Training of the weak classifier
Figure courtesy to Minh-Tri Pham, 2007
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Train the weak classifiers using statistics Assume the feature values of each class are
of normal distribution
Fast-StatBoost (1)
Non-car
Car
Optimalthreshold
Featurevalue
Figure courtesy to Minh-Tri Pham, 2007
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Fast-StatBoost (2)
A view of our face detector training algorithm
for weak classifier m from 1 to M:…update weights – O(N)Extract statistics of integral image – O(Nd2)for feature t from 1 to T:
project statistics into 1D – O(1)train feature classifier – O(1)
select best feature classifier – O(T)…
Constant Time
Figure courtesy to Minh-Tri Pham, 2007
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Motivation◦ Increase detection performance◦ Reduce computation time
Key insight◦ Use simpler classifiers to reject the majority of
sub-windows◦ Use more complex ones to achieve low false
positive rates on the rest of them
The Cascade
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Overall form: degenerate decision tree Reflects the fact: within any single image an
overwhelming majority of sub-windows are negative [1]
The Cascade (illustrated)
All Sub-windows
1 2 3
Rejected Sub-windows
Further Processing
T T T
FF F
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False positive rate
Detection rate
A Cascade of Classifiers
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Three-layer cascade Each layer has 4, 11, and 73 weak
classifiers, respectively
Our Cascaded Car Detector
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Training Set (1)
Number of car images: 500
(Courtesy to UIUC Image Database for Car Detection)
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Training Set (2)
Number of non-car images: 500
(Courtesy to UIUC Image Database for Car Detection)
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First Three Features
1st Feature 2nd Feature
3rd Feature
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Distribution of the First Three Features
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Car Detection (Uniform Scale)
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Car Detection (Different Scales)
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False Positives
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The ROC curveTest results on 170 Images:
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References
1. P. Viola and M. Jones, “Rapid Object Detection Using a Boosted Cascade of Simple Features,” In Proc. CVPR, 2001.
2. M. Pham, T. Cham, “Fast training and selection of Haar features using statistics in boosting-based face detection.” In Proc. ICCV 2007