Lecture 9 Feature Extraction and Motion Estimation Slides by: Michael Black Clark F. Olson Jean Ponce 2 Motion Rather than using two cameras, we can extract information about the environment by moving a single camera. Some motion problems are similar to stereo: Correspondence Reconstruction New problem: motion estimation Sometimes another problem is also present: Segmentation: Which image regions correspond to rigidly moving objects. Given m pictures of n points, can we recover the three-dimensional configuration of these points? the camera configurations? (structure) (motion) Some textbooks treat motion largely from the perspective of small camera motions. We will not be so limited! Structure From Motion 3 x1jx1j x2jx2j x3jx3j XjXj P1P1 P2P2 P3P3 4 Several questions must be answered: What image points should be matched? - feature selection What are the correct matches between the images? - feature tracking (unlike stereo, no epipolar constraint) Given the matches, what is camera motion? Given the matches, where are the points? Simplifying assumption: scene is static. - objects dont move relative to each other 5 Feature Selection We could track all image pixels, but this requires excessive computation. We want to select features that are easy to find in other images. Edges are easy to find in one direction, but not the other: aperture problem! Corner points (with gradients in multiple directions) can be precisely located. Corner Detection We should easily recognize the point by looking through a small window. Shifting a window in any direction should give a large change in intensity. 6 edge: no change along the edge direction corner: significant change in all directions flat region: no change in all directions Source: A. Efros Basic idea for corner detection: Find image patches with gradients in multiple directions. InputCorners selected Corner Detection 7 8 2 x 2 matrix of image derivatives (averaged in neighborhood of a point). Notation: Corner detection Corner 1 and 2 are large, 1 ~ 2 ; E increases in all directions 1 and 2 are small; E is almost constant in all directions Edge 1 >> 2 Edge 2 >> 1 Flat region Classification of image points using eigenvalues of M: Harris Corner Detector 10 1)Compute M matrix for each image window to get their cornerness scores. 2)Find points whose surrounding window gave large corner response. 3)Take the points of local maxima, i.e., perform non- maximum suppression. Harris Corner Detector 11 Input images Harris Corner Detector 12 Cornerness scores Harris Corner Detector 13 Thresholded Harris Corner Detector 14 Local maxima Harris Corner Detector 15 Corners output Harris Detector Properties 16 Rotation invariant? Scale invariant? All points will be classified as edges Corner ! Yes No Automatic Scale Selection 17 Intuition: Find scale that gives local maxima of some function f in both position and scale. Choosing a Detector 18 What do you want it for? Precise localization in x-y: Harris Good localization in scale: Difference of Gaussian Flexible region shape: MSER Best choice often application dependent Harris-/Hessian-Laplace/DoG work well for many natural categories MSER works well for buildings and printed things Why choose? Get more points with more detectors There have been extensive evaluations/comparisons [Mikolajczyk et al., IJCV05, PAMI05] All detectors/descriptors shown here work well 19 Feature Tracking Determining the corresponding features is similar to stereo vision. Problem: epipolar lines unknown - Matching point could be anywhere in the image. If small motion between images, can search only in small neighborhood. Otherwise, large search space necessary. - Coarse-to-fine search used to reduce computation time. Feature Tracking Challenges: Figure out which features can be tracked Efficiently track across frames Some points may change appearance over time (e.g., due to rotation, moving into shadows, etc.) Drift: small errors can accumulate as appearance model is updated Points may appear or disappear: need to be able to add/delete tracked points 20 21 Feature Matching Example: The set of vectors from each image location to the corresponding location in the subsequent image is called a motion field. 22 Feature Matching Example: If the camera motion is purely translation, the motion vectors all converge at the focus-of-expansion. 23 Ambiguity The relative position between the cameras has six degrees of freedom (six parameters): - Translation in x, y, z - Rotation about x, y, z Problem: images looks exactly the same if everything is scaled by a constant factor. For example: - Cameras twice as far apart - Scene twice as big and twice as far away Can only recover 5 parameters. - Scale cant be determined, unless known in advance Scale Ambiguity 24 Structure From Motion 25 Given a set of corresponding points in two or more images, compute the camera parameters and the 3D point coordinates Camera 1 Camera 2 Camera 3 R 1,t 1 R 2,t 2 R 3,t 3 ? ? ? Slide credit: Noah Snavely ? 26 Solving for Structure and Motion Total number of unknown values: - 5 camera motion parameters - n point depths (where n is the number of points matched) Total number of equations: - 2n (each point match has a constraint on the row and column) Can (in principle) solve for unknowns if 2n 5 + n (n 5) Usually, many more matches than necessary are used. - Improves performance with respect to noise 27 Solving for Structure and Motion Once the motion is known, dense matching is possible using the epipolar constraint. 28 Multiple Images If there are more than two images, similar ideas apply: - Perform matching between all images - Use constraints given by matches to estimate structure and motion For m images and n points, we have: - 6(m-1)-1+n unknowns = 6m-7+n - 2(m-1)n constraints = 2mn-2n Can (in principle) solve when n is at least (6m-7)/(2m-3). Bundle adjustment 29 Non-linear method for refining structure and motion Minimizing reprojection error x1jx1j x2jx2j x3jx3j XjXj P1P1 P2P2 P3P3 P1XjP1Xj P2XjP2Xj P3XjP3Xj 30 Stereo Ego-motion One application of structure from motion is to determine the path of a robot by examining the images that it takes. The use of stereo provides several advantages: - The scale is known, since we can compute scene depths - There is more information for matching points (depth) 31 Stereo Ego-motion Stereo ego-motion loop: 1.Feature selection in first stereo pair. 2.Stereo matching in first stereo pair. 3.Feature tracking into second stereo pair. 4.Stereo matching in second stereo pair. 5.Motion estimation using 3D feature positions. 6.Repeat with new images until done. Ego-motion steps Features selectedFeatures matched in right image Features tracked in left imageFeatures tracked in right image 32 33 Stereo Ego-motion Urbie Odometry track Actual track (GPS) Estimated track 34 Advanced Feature Matching Right imageLeft image Left image after affine optimization