Tracking norm

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The document discusses real-time tracking techniques using features. It reviews SIFT, RANSAC and SURF for feature detection and extraction. Examples of successful and failed tracking are shown for objects undergoing rotation, illumination changes and occlusions. Multiple object tracking is also discussed. Finally, different norms for estimating transformations are compared for applications like line fitting and panorama stitching.

Real-time tracking
Examples
Which norm should we use?
Real-time Tracking with Features
Petter Strandmark
Lund University
February 28, 2009
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Outline
1 Real-time tracking
SIFT (review)
Estimating transformations
RANSAC (review)
SURF
2 Examples
Successful examples
Failures
Multiple objects
3 Which norm should we use?
Line ﬁtting
Panorama stitching
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
SIFT (review)
Estimating transformations
RANSAC (review)
SURF
SIFT
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
SIFT (review)
Estimating transformations
RANSAC (review)
SURF
Estimating transformations
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
SIFT (review)
Estimating transformations
RANSAC (review)
SURF
RANSAC
RAndom SAmple Consensus
Least−squares Least−squares RANSAC
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
SIFT (review)
Estimating transformations
RANSAC (review)
SURF
SURF
Gaussian Box filter Gaussian Box filter
Approximate Gaussians with box ﬁlters.
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Successful examples
Failures
Multiple objects
“David”
Tracking example
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Successful examples
Failures
Multiple objects
Tracking vs. recognition
Recognition
Tracking
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Successful examples
Failures
Multiple objects
“All-Bran”
Result
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Successful examples
Failures
Multiple objects
“Pedestrian”
Result
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Successful examples
Failures
Multiple objects
Rotation
Is handled well
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Successful examples
Failures
Multiple objects
Illumination
SIFT descriptors are invariant to illumination
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Successful examples
Failures
Multiple objects
Occlusions
Only a subset of the SIFT descriptors need to be found
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Successful examples
Failures
Multiple objects
Untextured Objects
Unable to extract SIFT features
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Successful examples
Failures
Multiple objects
Multiple objects
Without any modiﬁcation
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Successful examples
Failures
Multiple objects
Multiple objects
Additional considerations
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Successful examples
Failures
Multiple objects
Multiple objects
Only add points within a single frame when updating
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Line ﬁtting
Panorama stitching
Which norm should we use?
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Line ﬁtting
Panorama stitching
Which norm should we use?
|| · ||2
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Line ﬁtting
Panorama stitching
Which norm should we use?
|| · ||1
Petter Strandmark Real-time Tracking with Features

Real-time tracking
Examples
Which norm should we use?
Line ﬁtting
Panorama stitching
Resources
Course home page
SURFmex :
http://users.student.lth.se/p04pst/surfmex.html
YALMIP optimization package :
http://control.ee.ethz.ch/~joloef/wiki/pmwiki.php
Petter Strandmark Real-time Tracking with Features

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Tracking norm

1. Real-time tracking Examples Which norm should we use? Real-time Tracking with Features Petter Strandmark Lund University February 28, 2009 Petter Strandmark Real-time Tracking with Features

2. Real-time tracking Examples Which norm should we use? Outline 1 Real-time tracking SIFT (review) Estimating transformations RANSAC (review) SURF 2 Examples Successful examples Failures Multiple objects 3 Which norm should we use? Line ﬁtting Panorama stitching Petter Strandmark Real-time Tracking with Features

3. Real-time tracking Examples Which norm should we use? SIFT (review) Estimating transformations RANSAC (review) SURF SIFT Petter Strandmark Real-time Tracking with Features

4. Real-time tracking Examples Which norm should we use? SIFT (review) Estimating transformations RANSAC (review) SURF Estimating transformations Petter Strandmark Real-time Tracking with Features

5. Real-time tracking Examples Which norm should we use? SIFT (review) Estimating transformations RANSAC (review) SURF RANSAC RAndom SAmple Consensus Least−squares Least−squares RANSAC Petter Strandmark Real-time Tracking with Features

6. Real-time tracking Examples Which norm should we use? SIFT (review) Estimating transformations RANSAC (review) SURF SURF Gaussian Box filter Gaussian Box filter Approximate Gaussians with box ﬁlters. Petter Strandmark Real-time Tracking with Features

7. Real-time tracking Examples Which norm should we use? Successful examples Failures Multiple objects “David” Tracking example Petter Strandmark Real-time Tracking with Features

8. Real-time tracking Examples Which norm should we use? Successful examples Failures Multiple objects Tracking vs. recognition Recognition Tracking Petter Strandmark Real-time Tracking with Features

9. Real-time tracking Examples Which norm should we use? Successful examples Failures Multiple objects “All-Bran” Result Petter Strandmark Real-time Tracking with Features

10. Real-time tracking Examples Which norm should we use? Successful examples Failures Multiple objects “Pedestrian” Result Petter Strandmark Real-time Tracking with Features

11. Real-time tracking Examples Which norm should we use? Successful examples Failures Multiple objects Rotation Is handled well Petter Strandmark Real-time Tracking with Features

12. Real-time tracking Examples Which norm should we use? Successful examples Failures Multiple objects Illumination SIFT descriptors are invariant to illumination Petter Strandmark Real-time Tracking with Features

13. Real-time tracking Examples Which norm should we use? Successful examples Failures Multiple objects Occlusions Only a subset of the SIFT descriptors need to be found Petter Strandmark Real-time Tracking with Features

14. Real-time tracking Examples Which norm should we use? Successful examples Failures Multiple objects Untextured Objects Unable to extract SIFT features Petter Strandmark Real-time Tracking with Features

15. Real-time tracking Examples Which norm should we use? Successful examples Failures Multiple objects Multiple objects Without any modiﬁcation Petter Strandmark Real-time Tracking with Features

16. Real-time tracking Examples Which norm should we use? Successful examples Failures Multiple objects Multiple objects Additional considerations Petter Strandmark Real-time Tracking with Features

17. Real-time tracking Examples Which norm should we use? Successful examples Failures Multiple objects Multiple objects Only add points within a single frame when updating Petter Strandmark Real-time Tracking with Features

18. Real-time tracking Examples Which norm should we use? Line ﬁtting Panorama stitching Which norm should we use? Petter Strandmark Real-time Tracking with Features

19. Real-time tracking Examples Which norm should we use? Line ﬁtting Panorama stitching Which norm should we use? || · ||∞ Petter Strandmark Real-time Tracking with Features

20. Real-time tracking Examples Which norm should we use? Line ﬁtting Panorama stitching Which norm should we use? || · ||2 Petter Strandmark Real-time Tracking with Features

21. Real-time tracking Examples Which norm should we use? Line ﬁtting Panorama stitching Which norm should we use? || · ||1 Petter Strandmark Real-time Tracking with Features

22. Real-time tracking Examples Which norm should we use? Line ﬁtting Panorama stitching Which norm should we use? Petter Strandmark Real-time Tracking with Features

23. Real-time tracking Examples Which norm should we use? Line ﬁtting Panorama stitching Which norm should we use? || · ||∞ Petter Strandmark Real-time Tracking with Features

24. Real-time tracking Examples Which norm should we use? Line ﬁtting Panorama stitching Which norm should we use? || · ||2 Petter Strandmark Real-time Tracking with Features

25. Real-time tracking Examples Which norm should we use? Line ﬁtting Panorama stitching Which norm should we use? || · ||1 Petter Strandmark Real-time Tracking with Features

26. Real-time tracking Examples Which norm should we use? Line ﬁtting Panorama stitching Resources Course home page SURFmex : http://users.student.lth.se/p04pst/surfmex.html YALMIP optimization package : http://control.ee.ethz.ch/~joloef/wiki/pmwiki.php Petter Strandmark Real-time Tracking with Features

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