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Detour: Time complexity of convolution
• Image is w x h
• Filter is k x k
• Every entry takes O(k2) operations
• Number of output entries:
• (w+k-1)(h+k-1) for full
• wh for same
• Total time complexity:
• O(whk2)
Optimization: separable filters
• basic alg. is O(r2): large filters get expensive fast!
• definition: w(x,y) is separable if it can be written as:
• Write u as a k x 1 filter, and v as a 1 x k filter
• Claim:
Separable filters
u1
u2
u3
v1 v2 v3
*
u1
u2
u3
u3
u2
u1
u1v1
Separable filters
u1
u2
u3
v1 v2 v3
*
u1
u2
u3
u3
u2
u1
u1v1 u1v2
Separable filters
u1
u2
u3
v1 v2 v3
*
u1
u2
u3
u3
u2
u1
u1v1 u1v2 u1v3
Separable filters
u1
u2
u3
v1 v2 v3
*
u1
u2
u3
u3
u2
u1
u1v1 u1v2 u1v3
u2v1
Separable filters
u1
u2
u3
v1 v2 v3
*
u1
u2
u3
u3
u2
u1
u1v1 u1v2 u1v3
u2v1 u2v2
Separable filters
u1
u2
u3
v1 v2 v3
*
u1
u2
u3
u3
u2
u1
u1v1 u1v2 u1v3
u2v1 u2v2 u2v3
Separable filters
u1
u2
u3
v1 v2 v3
*
u1
u2
u3
u3
u2
u1
u1v1 u1v2 u1v3
u2v1 u2v2 u2v3
u3v1
Separable filters
u1
u2
u3
v1 v2 v3
*
u1
u2
u3
u3
u2
u1
u1v1 u1v2 u1v3
u2v1 u2v2 u2v3
u3v1 u3v2
Separable filters
u1
u2
u3
v1 v2 v3
*
u1
u2
u3
u3
u2
u1
u1v1 u1v2 u1v3
u2v1 u2v2 u2v3
u3v1 u3v2 u3v3
w
Separable filters
• Time complexity of original : O(whk2)
• Time complexity of separable version : O(whk)
Image resizing
Why do we need to talk about resizing?
• Need to zoom in to a
region to get more details
• Can we get more details?
Louis Daguerre, 1838
Why do we need to talk about resizing?
• Far away objects appear
small, nearby objects appear
larger
• Need to recognize objects at
multiple scales
• Resizing images to same size
helps recognition
Why is resizing hard?
• E.g, consider reducing size by a factor of 2
• Simple solution: subsampling
• Example: subsampling by a factor of 2
Why is resizing hard?
• Dropping pixels causes problems
Aliasing in time
Aliasing in time
Why does aliasing happen?
• We ”miss” things between samples
• High frequency signals might appear as low frequency signals
• Called “aliasing”
© Kavita Bala, Computer Science, Cornell University
Let’s look at it mathematically
• Fourier basis signals
• 𝐵𝑘 𝑛 = 𝑒
𝑖2𝜋𝑘𝑛
𝑁 , time period N/k, frequency k/N
• Suppose we sample every P pixels. Then we are only looking at the
values
• 𝐵𝑘 𝑃 , 𝐵𝑘 2𝑃 , … , 𝐵𝑘 𝑛𝑃 , …
• Consider two basis vectors 𝐵𝑘 and 𝐵𝑘+𝑁/𝑃
• 𝐵𝑘+𝑁/𝑃 𝑛𝑃 = 𝑒
𝑖2𝜋 𝑘+
𝑁
𝑃 𝑃𝑛
𝑁 = 𝑒
𝑖2𝜋𝑘𝑃𝑛
𝑇
+𝑖2𝜋𝑛(
𝑁
𝑃
)(
𝑃
𝑁
)
= 𝑒
𝑖2𝜋𝑘𝑃𝑛
𝑇
+𝑖2𝜋𝑛
= 𝑒
𝑖2𝜋𝑘𝑃𝑛
𝑁 = 𝐵𝑘(𝑛𝑃)
Let’s look at it mathematically
• 𝐵𝑘 𝑛𝑃 = 𝐵𝑘+
𝑁
𝑃
𝑛𝑃
• The two basis vectors look identical if we sample every P pixels
• Our eyes see the lower frequency: aliasing
• How do we avoid aliasing?
• Remove high frequencies that may be aliased
• Sample at a high enough rate (lower P)
Avoiding aliasing
• Suppose image has limited high frequency components
• Fourier transform of x is X
• Suppose X is non-zero only for −𝑘𝑚𝑎𝑥 to 𝑘𝑚𝑎𝑥
0 N/2
-N/2 -kmax kmax
Avoiding aliasing
• When sampling once every P pixels, −𝑘𝑚𝑎𝑥 is indistinguishable from
− 𝑘𝑚𝑎𝑥 + 𝑁/𝑃
• If image has both coefficients, they will get mixed
• So we want that 𝑘𝑚𝑎𝑥 < −𝑘𝑚𝑎𝑥 +
𝑁
𝑃
⇒ 2𝑘𝑚𝑎𝑥 <
𝑁
𝑃
0 N/2
-N/2 -kmax kmax
-kmax+N/P
Nyquist Sampling Theorem
• 2𝑘𝑚𝑎𝑥 <
𝑁
𝑃
• Basis 𝐵𝑘 has a time period of
𝑁
𝑘
or frequency of
𝑘
𝑁
•
2𝑘𝑚𝑎𝑥 <
𝑁
𝑃
⇒
2𝑘𝑚𝑎𝑥
𝑁
<
1
P
⇒ 2𝜈𝑚𝑎𝑥 < 𝜈𝑠𝑎𝑚𝑝𝑙𝑒
• Need to sample at at least twice the rate of the highest frequency
component
Subsampling the image
• First smooth the image to remove
high frequency components
• How should we smooth?
• One simple answer: blur with
Gaussian
• Recall that Fourier transform of
Gaussian is Gaussian
• Choose sigma so that frequencies
above
𝜈𝑠𝑎𝑚𝑝𝑙𝑒
2
get killed
Subsampling before and after smoothing
Before After
Image sub-sampling
1/4 (2x zoom) 1/16 (4x zoom)
Why does this look so crufty? Aliasing!
1/2
Source: S. Seitz
Subsampling images correctly
G 1/4
G 1/8
Gaussian 1/2
• Solution: filter the image, then subsample
Source: S. Seitz
Subsampling with Gaussian pre-filtering
G 1/4 G 1/8
Gaussian 1/2
• Solution: filter the image, then subsample
Source: S. Seitz
Compare with...
1/4 (2x zoom) 1/8 (4x zoom)
1/2
Source: S. Seitz
Low-pass filtering
• Convolving with a Gaussian = remove high frequencies
• “Low-pass” filtering: low frequencies “pass” through filter, high
frequencies don’t
• Identity – Low-pass filtered image = “High-pass filtering”
Gaussian
pre-filtering
• Solution: filter
the image, then
subsample
blur
F0 H
*
subsample blur subsample …
F1
F1 H
*
F2
F0
blur
F0 H
*
subsample blur subsample …
F1
F1 H
*
F2
F0
Gaussian
pyramid
Gaussian pyramids
[Burt and Adelson, 1983]
• In computer graphics, a mip map [Williams, 1983]
Gaussian Pyramids have all sorts of applications in computer vision
Source: S. Seitz
Gaussian pyramids - Searching over scales
Gaussian pyramids - Searching over scales
2
)
*
( 2
3 
 gaussian
G
G
1
G
The Gaussian Pyramid
High resolution
Low resolution
Image

0
G
2
)
*
( 0
1 
 gaussian
G
G
2
)
*
( 1
2 
 gaussian
G
G
2
)
*
( 3
4 
 gaussian
G
G
blur
blur
blur
blur
Gaussian pyramid and stack
Source: Forsyth
Memory Usage
• What is the size of the pyramid?
4
3

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lec06-resampling2.pptx

  • 1.
  • 2. Detour: Time complexity of convolution • Image is w x h • Filter is k x k • Every entry takes O(k2) operations • Number of output entries: • (w+k-1)(h+k-1) for full • wh for same • Total time complexity: • O(whk2)
  • 3. Optimization: separable filters • basic alg. is O(r2): large filters get expensive fast! • definition: w(x,y) is separable if it can be written as: • Write u as a k x 1 filter, and v as a 1 x k filter • Claim:
  • 4. Separable filters u1 u2 u3 v1 v2 v3 * u1 u2 u3 u3 u2 u1 u1v1
  • 5. Separable filters u1 u2 u3 v1 v2 v3 * u1 u2 u3 u3 u2 u1 u1v1 u1v2
  • 6. Separable filters u1 u2 u3 v1 v2 v3 * u1 u2 u3 u3 u2 u1 u1v1 u1v2 u1v3
  • 7. Separable filters u1 u2 u3 v1 v2 v3 * u1 u2 u3 u3 u2 u1 u1v1 u1v2 u1v3 u2v1
  • 8. Separable filters u1 u2 u3 v1 v2 v3 * u1 u2 u3 u3 u2 u1 u1v1 u1v2 u1v3 u2v1 u2v2
  • 9. Separable filters u1 u2 u3 v1 v2 v3 * u1 u2 u3 u3 u2 u1 u1v1 u1v2 u1v3 u2v1 u2v2 u2v3
  • 10. Separable filters u1 u2 u3 v1 v2 v3 * u1 u2 u3 u3 u2 u1 u1v1 u1v2 u1v3 u2v1 u2v2 u2v3 u3v1
  • 11. Separable filters u1 u2 u3 v1 v2 v3 * u1 u2 u3 u3 u2 u1 u1v1 u1v2 u1v3 u2v1 u2v2 u2v3 u3v1 u3v2
  • 12. Separable filters u1 u2 u3 v1 v2 v3 * u1 u2 u3 u3 u2 u1 u1v1 u1v2 u1v3 u2v1 u2v2 u2v3 u3v1 u3v2 u3v3 w
  • 13. Separable filters • Time complexity of original : O(whk2) • Time complexity of separable version : O(whk)
  • 15. Why do we need to talk about resizing? • Need to zoom in to a region to get more details • Can we get more details? Louis Daguerre, 1838
  • 16. Why do we need to talk about resizing? • Far away objects appear small, nearby objects appear larger • Need to recognize objects at multiple scales • Resizing images to same size helps recognition
  • 17. Why is resizing hard? • E.g, consider reducing size by a factor of 2 • Simple solution: subsampling • Example: subsampling by a factor of 2
  • 18. Why is resizing hard? • Dropping pixels causes problems
  • 19.
  • 20.
  • 23. Why does aliasing happen? • We ”miss” things between samples • High frequency signals might appear as low frequency signals • Called “aliasing” © Kavita Bala, Computer Science, Cornell University
  • 24. Let’s look at it mathematically • Fourier basis signals • 𝐵𝑘 𝑛 = 𝑒 𝑖2𝜋𝑘𝑛 𝑁 , time period N/k, frequency k/N • Suppose we sample every P pixels. Then we are only looking at the values • 𝐵𝑘 𝑃 , 𝐵𝑘 2𝑃 , … , 𝐵𝑘 𝑛𝑃 , … • Consider two basis vectors 𝐵𝑘 and 𝐵𝑘+𝑁/𝑃 • 𝐵𝑘+𝑁/𝑃 𝑛𝑃 = 𝑒 𝑖2𝜋 𝑘+ 𝑁 𝑃 𝑃𝑛 𝑁 = 𝑒 𝑖2𝜋𝑘𝑃𝑛 𝑇 +𝑖2𝜋𝑛( 𝑁 𝑃 )( 𝑃 𝑁 ) = 𝑒 𝑖2𝜋𝑘𝑃𝑛 𝑇 +𝑖2𝜋𝑛 = 𝑒 𝑖2𝜋𝑘𝑃𝑛 𝑁 = 𝐵𝑘(𝑛𝑃)
  • 25. Let’s look at it mathematically • 𝐵𝑘 𝑛𝑃 = 𝐵𝑘+ 𝑁 𝑃 𝑛𝑃 • The two basis vectors look identical if we sample every P pixels • Our eyes see the lower frequency: aliasing • How do we avoid aliasing? • Remove high frequencies that may be aliased • Sample at a high enough rate (lower P)
  • 26. Avoiding aliasing • Suppose image has limited high frequency components • Fourier transform of x is X • Suppose X is non-zero only for −𝑘𝑚𝑎𝑥 to 𝑘𝑚𝑎𝑥 0 N/2 -N/2 -kmax kmax
  • 27. Avoiding aliasing • When sampling once every P pixels, −𝑘𝑚𝑎𝑥 is indistinguishable from − 𝑘𝑚𝑎𝑥 + 𝑁/𝑃 • If image has both coefficients, they will get mixed • So we want that 𝑘𝑚𝑎𝑥 < −𝑘𝑚𝑎𝑥 + 𝑁 𝑃 ⇒ 2𝑘𝑚𝑎𝑥 < 𝑁 𝑃 0 N/2 -N/2 -kmax kmax -kmax+N/P
  • 28. Nyquist Sampling Theorem • 2𝑘𝑚𝑎𝑥 < 𝑁 𝑃 • Basis 𝐵𝑘 has a time period of 𝑁 𝑘 or frequency of 𝑘 𝑁 • 2𝑘𝑚𝑎𝑥 < 𝑁 𝑃 ⇒ 2𝑘𝑚𝑎𝑥 𝑁 < 1 P ⇒ 2𝜈𝑚𝑎𝑥 < 𝜈𝑠𝑎𝑚𝑝𝑙𝑒 • Need to sample at at least twice the rate of the highest frequency component
  • 29. Subsampling the image • First smooth the image to remove high frequency components • How should we smooth? • One simple answer: blur with Gaussian • Recall that Fourier transform of Gaussian is Gaussian • Choose sigma so that frequencies above 𝜈𝑠𝑎𝑚𝑝𝑙𝑒 2 get killed
  • 30. Subsampling before and after smoothing Before After
  • 31. Image sub-sampling 1/4 (2x zoom) 1/16 (4x zoom) Why does this look so crufty? Aliasing! 1/2 Source: S. Seitz
  • 32. Subsampling images correctly G 1/4 G 1/8 Gaussian 1/2 • Solution: filter the image, then subsample Source: S. Seitz
  • 33. Subsampling with Gaussian pre-filtering G 1/4 G 1/8 Gaussian 1/2 • Solution: filter the image, then subsample Source: S. Seitz
  • 34. Compare with... 1/4 (2x zoom) 1/8 (4x zoom) 1/2 Source: S. Seitz
  • 35. Low-pass filtering • Convolving with a Gaussian = remove high frequencies • “Low-pass” filtering: low frequencies “pass” through filter, high frequencies don’t • Identity – Low-pass filtered image = “High-pass filtering”
  • 36. Gaussian pre-filtering • Solution: filter the image, then subsample blur F0 H * subsample blur subsample … F1 F1 H * F2 F0
  • 37. blur F0 H * subsample blur subsample … F1 F1 H * F2 F0 Gaussian pyramid
  • 38. Gaussian pyramids [Burt and Adelson, 1983] • In computer graphics, a mip map [Williams, 1983] Gaussian Pyramids have all sorts of applications in computer vision Source: S. Seitz
  • 39. Gaussian pyramids - Searching over scales
  • 40. Gaussian pyramids - Searching over scales
  • 41. 2 ) * ( 2 3   gaussian G G 1 G The Gaussian Pyramid High resolution Low resolution Image  0 G 2 ) * ( 0 1   gaussian G G 2 ) * ( 1 2   gaussian G G 2 ) * ( 3 4   gaussian G G blur blur blur blur
  • 42. Gaussian pyramid and stack Source: Forsyth
  • 43. Memory Usage • What is the size of the pyramid? 4 3