1. Keypoint-based Recognition Computer Vision CS 543 / ECE 549 University of Illinois Derek Hoiem 03/04/10

2. Today HW 1 HW 2 (p3) Recognition

3. General Process of Object Recognition Specify Object Model Generate Hypotheses Score Hypotheses Resolution

4. General Process of Object Recognition Example: Keypoint-based Instance Recognition Specify Object Model Generate Hypotheses Score Hypotheses Resolution B1B1 B2B2 B3B3 A1A1 A2A2 A3A3 Last Class

5. Overview of Keypoint Matching K. Grauman, B. Leibe N pixels e.g. color B1B1 B2B2 B3B3 A1A1 A2A2 A3A3 1. Find a set of distinctive key- points 3. Extract and normalize the region content 2. Define a region around each keypoint 4. Compute a local descriptor from the normalized region 5. Match local descriptors

6. General Process of Object Recognition Example: Keypoint-based Instance Recognition Specify Object Model Generate Hypotheses Score Hypotheses Resolution B1B1 B2B2 B3B3 A1A1 A2A2 A3A3 Affine Parameters Choose hypothesis with max score above threshold # Inliers Affine-variant point locations This Class

7. This class Given two images and their keypoints (position, scale, orientation, descriptor) Goal: Verify if they belong to a consistent configuration Local Features, e.g. SIFT Slide credit: David Lowe

8. Matching Keypoints Want to match keypoints between: 1.Training images containing the object 2.Database images Given descriptor x 0, find two nearest neighbors x 1, x 2 with distances d 1, d 2 x 1 matches x 0 if d 1 /d 2 < 0.8 – This gets rid of 90% false matches, 5% of true matches in Lowe’s study

9. Affine Object Model Accounts for 3D rotation of a surface under orthographic projection

10. Affine Object Model Accounts for 3D rotation of a surface under orthographic projection Scaling/skew Translation How many matched points do we need?

11. Finding the objects 1.Get matched points in database image 2.Get location/scale/orientation using Hough voting – In training, each point has known position/scale/orientation wrt whole object – Bins for x, y, scale, orientation Loose bins (0.25 object length in position, 2x scale, 30 degrees orientation) Vote for two closest bin centers in each direction (16 votes total) 3.Geometric verification – For each bin with at least 3 keypoints – Iterate between least squares fit and checking for inliers and outliers 4.Report object if > T inliers (T is typically 3, can be computed by probabilistic method)

12. Matched objects

13. View interpolation Training – Given images of different viewpoints – Cluster similar viewpoints using feature matches – Link features in adjacent views Recognition – Feature matches may be spread over several training viewpoints  Use the known links to “transfer votes” to other viewpoints Slide credit: David Lowe [Lowe01]

14. Applications Sony Aibo (Evolution Robotics) SIFT usage – Recognize docking station – Communicate with visual cards Other uses – Place recognition – Loop closure in SLAM K. Grauman, B. Leibe14 Slide credit: David Lowe

15. Location Recognition Slide credit: David Lowe Training [Lowe04]

16. Fast visual search “Scalable Recognition with a Vocabulary Tree”, Nister and Stewenius, CVPR 2006. “Video Google”, Sivic and Zisserman, ICCV 2003

17. Slide 110,000,000 Images in 5.8 Seconds Slide Credit: Nister

18. Slide Slide Credit: Nister

19. Slide Slide Credit: Nister

20. Slide

21. Key Ideas Visual Words – Cluster descriptors (e.g., K-means) Inverse document file – Quick lookup of files given keypoints tf-idf: Term Frequency – Inverse Document Frequency # words in document # times word appears in document # documents # documents that contain the word

22. Recognition with K-tree Following slides by David Nister (CVPR 2006)

46. Performance

47. More words is better Improves Retrieval Improves Speed Branch factor

48. Higher branch factor works better (but slower)

49. Video Google System 1.Collect all words within query region 2.Inverted file index to find relevant frames 3.Compare word counts 4.Spatial verification Sivic & Zisserman, ICCV 2003 Demo online at : http://www.robots.ox.ac.uk/~vgg/research/vgoogl e/index.html http://www.robots.ox.ac.uk/~vgg/research/vgoogl e/index.html 49K. Grauman, B. Leibe Query region Retrieved frames

50. Sampling strategies 50K. Grauman, B. Leibe Image credits: F-F. Li, E. Nowak, J. Sivic Dense, uniformly Sparse, at interest points Randomly Multiple interest operators To find specific, textured objects, sparse sampling from interest points often more reliable. Multiple complementary interest operators offer more image coverage. For object categorization, dense sampling offers better coverage. [See Nowak, Jurie & Triggs, ECCV 2006]

51. Application: Large-Scale Retrieval K. Grauman, B. Leibe51 [Philbin CVPR’07] Query Results on 5K (demo available for 100K)

52. Example Applications B. Leibe52 Mobile tourist guide Self-localization Object/building recognition Photo/video augmentation Aachen Cathedral [Quack, Leibe, Van Gool, CIVR’08]

53. Application: Image Auto-Annotation K. Grauman, B. Leibe53 Left: Wikipedia image Right: closest match from Flickr [Quack CIVR’08] Moulin Rouge Tour Montparnasse Colosseum Viktualienmarkt Maypole Old Town Square (Prague)

54. Things to remember Object instance recognition – Find keypoints, compute descriptors – Match descriptors – Vote for / fit affine parameters – Return object if # inliers > T Keys to efficiency – Visual words Used for many applications – Inverse document file Used for web-scale search