Object Recognition: History and Overview Slides adapted from Fei-Fei Li, Rob Fergus, Antonio Torralba, and Jean Ponce.

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Presentation transcript:

Object Recognition: History and Overview Slides adapted from Fei-Fei Li, Rob Fergus, Antonio Torralba, and Jean Ponce

How many visual object categories are there? Biederman 1987

OBJECTS ANIMALS INANIMATE PLANTS MAN-MADENATURAL VERTEBRATE ….. MAMMALS BIRDS GROUSEBOARTAPIR CAMERA

So what does object recognition involve?

Scene categorization outdoor city …

Image-level annotation: are there people? outdoor city …

Object detection: where are the people?

Image parsing mountain building tree banner vendor people street lamp

Variability : Camera position Illumination Shape parameters Within-class variations? Modeling variability

Within-class variations

Variability : Camera position Illumination  Alignment Roberts (1965); Lowe (1987); Faugeras & Hebert (1986); Grimson & Lozano-Perez (1986); Huttenlocher & Ullman (1987) Shape: assumed known

Recall: Alignment Alignment: fitting a model to a transformation between pairs of features (matches) in two images Find transformation T that minimizes T xixi xixi '

Recall: Origins of computer vision L. G. Roberts, Machine Perception of Three Dimensional Solids, Ph.D. thesis, MIT Department of Electrical Engineering, 1963.Machine Perception of Three Dimensional Solids

Alignment: Huttenlocher & Ullman (1987)

Variability Camera position Illumination Internal parameters Invariance to: Duda & Hart ( 1972); Weiss (1987); Mundy et al. ( ); Rothwell et al. (1992); Burns et al. (1993)

General 3D objects do not admit monocular viewpoint invariants (Burns et al., 1993) Projective invariants (Rothwell et al., 1992): Recall: invariant to similarity transformations computed from four points A B C D

ACRONYM (Brooks and Binford, 1981) Representing and recognizing object categories is harder... Binford (1971), Nevatia & Binford (1972), Marr & Nishihara (1978)

Recognition by components Geons (Biederman 1987) ???

Zisserman et al. (1995) Generalized cylinders Ponce et al. (1989) Forsyth (2000) General shape primitives?

Empirical models of image variability Appearance-based techniques Turk & Pentland (1991); Murase & Nayar (1995); etc.

Eigenfaces (Turk & Pentland, 1991)

Color Histograms Swain and Ballard, Color Indexing, IJCV 1991.Color Indexing

H. Murase and S. Nayar, Visual learning and recognition of 3-d objects from appearance, IJCV 1995 Appearance manifolds

Limitations of global appearance models Requires global registration of patterns Not robust to clutter, occlusion, geometric transformations

Sliding window approaches Turk and Pentland, 1991 Belhumeur, Hespanha, & Kriegman, 1997 Schneiderman & Kanade 2004 Viola and Jones, 2000 Schneiderman & Kanade, 2004 Argawal and Roth, 2002 Poggio et al. 1993

–Scale / orientation range to search over –Speed –Context Sliding window approaches

Lowe’02 Mahamud & Hebert’03 Local features Combining local appearance, spatial constraints, invariants, and classification techniques from machine learning. Schmid & Mohr’97

Local features for recognition of object instances

Lowe, et al. 1999, 2003 Mahamud and Hebert, 2000 Ferrari, Tuytelaars, and Van Gool, 2004 Rothganger, Lazebnik, and Ponce, 2004 Moreels and Perona, 2005 … Local features for recognition of object instances

Representing categories: Parts and Structure Weber, Welling & Perona (2000), Fergus, Perona & Zisserman (2003)

Parts-and-shape representation Model: –Object as a set of parts –Relative locations between parts –Appearance of part Figure from [Fischler & Elschlager 73]

Object Bag of ‘words’ Bag-of-features models

Objects as texture All of these are treated as being the same No distinction between foreground and background: scene recognition?

Timeline of recognition 1965-late 1980s: alignment, geometric primitives Early 1990s: invariants, appearance-based methods Mid-late 1990s: sliding window approaches Late 1990s: feature-based methods Early 2000s: parts-and-shape models 2003 – present: bags of features Present trends: combination of local and global methods, modeling context, emphasis on “image parsing”

Global scene context The “gist” of a scene: Oliva & Torralba (2001)

J. Hays and A. Efros, Scene Completion using Millions of Photographs, SIGGRAPH 2007Scene Completion using Millions of Photographs

Scene-level context for image parsing J. Tighe and S. Lazebnik, ECCV 2010 submission

D. Hoiem, A. Efros, and M. Herbert. Putting Objects in Perspective. CVPR 2006.Putting Objects in Perspective. Geometric context

What “works” today Reading license plates, zip codes, checks

What “works” today Reading license plates, zip codes, checks Fingerprint recognition

What “works” today Reading license plates, zip codes, checks Fingerprint recognition Face detection

What “works” today Reading license plates, zip codes, checks Fingerprint recognition Face detection Recognition of flat textured objects (CD covers, book covers, etc.)