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Model Fitting ע הנבנש רועיש לע ססובמ" לט ירנסה

תורוקמ •דומילה רפס ינפ לע רזופמ...

Fitting: Motivation 9300 Harris Corners Pkwy, Charlotte, NC • We’ve learned how to detect edges, corners, blobs. Now what? • We would like to form a higher-level, more compact representation of the features in the image by grouping multiple features according to a simple model

Fitting • Choose a parametric model to represent a set of features simple model: circles simple model: lines complicated model: car Source: K. Grauman

Fitting • Choose a parametric model to represent a set of features • Line, ellipse, spline, etc. • Three main questions: • What model represents this set of features best? • Which of several model instances gets which feature? • How many model instances are there? • Computational complexity is important • It is infeasible to examine every possible set of parameters and every possible combination of features

Fitting: Issues Case study: Line detection • Noise in the measured feature locations • Extraneous data: clutter (outliers), multiple lines • Missing data: occlusions

Fitting: Issues • If we know which points belong to the line, how do we find the “optimal” line parameters? • Least squares • What if there are outliers? • RANSAC • What if there are many lines? • Voting methods: Hough transform • What if we’re not even sure it’s a line? • Model selection

תודוקנל וק תמאתה"תחת-שער"

Least squares line fitting Data: ( x 1 , y 1 ), …, ( x n , y n ) y=mx+b Line equation: y i = m x i + b Find ( m , b ) to minimize ( x i , y i )    n   2 ( ) E y m x b i i 1 i

Least squares line fitting Data: ( x 1 , y 1 ), …, ( x n , y n ) y=mx+b Line equation: y i = m x i + b Find ( m , b ) to minimize ( x i , y i )    n   2 ( ) E y m x b i i 1 i 2     1 y x 2     1 1       m m        2 n         1     E y x Y XB       i i 1     i  b  b        1  y x n n       T T T T ( ) ( ) 2 ( ) ( ) ( ) Y XB Y XB Y Y XB Y XB XB dE    T T 2 2 0 X XB X Y dB Normal equations: least squares solution to  T T X XB X Y XB=Y

ב- MATLAB : תואוושמה תכרעמל ןורתפה • XB=Y = B X\Y;

Problem with “vertical” least squares • Not rotation-invariant • Fails completely for vertical lines

Total least squares Distance between point ( x i , y i ) and ax+by=d line ax+by=d ( a 2 +b 2 = 1): Unit normal: N= ( a, b ) | ax i + by i – d | ( ( x i , y i )    n   2 E a x b y d ) i i 1 i

Total least squares Distance between point ( x i , y i ) and ax+by=d line ax+by=d ( a 2 +b 2 = 1): Unit normal: N= ( a, b ) | ax i + by i – d | ( ( x i , y i )    n   2 E a x b y d ) i i 1 i Proof: (from wikipedia)

Total least squares Distance between point ( x i , y i ) and ax+by=d line ax+by=d ( a 2 +b 2 = 1): | ax i + by i – d | Find ( a , b , d ) to minimize the sum of Unit normal: squared perpendicular distances N= ( a, b ) ( ( x i , y i )    n   2 E a x b y d ) i i 1 i    n   2 ( ) E a x b y d i i 1 i

Total least squares Distance between point ( x i , y i ) and ax+by=d line ax+by=d ( a 2 +b 2 = 1): | ax i + by i – d | Find ( a , b , d ) to minimize the sum of Unit normal: squared perpendicular distances N= ( a, b ) ( ( x i , y i )    n   2 E a x b y d ) i i 1 i    n   2 ( ) E a x b y d i i 1 i  E a b      n      n  n   2 ( ) 0 d x y ax by a x b y d   i  i i i 1 1 i i 1 i n n d 2     x x y y 1 1     a    n        2 T ( ( ) ( )) ( ) ( )   E a x x b y y UN UN   i i 1   i b       x x y y dE n n   T 2 ( ) 0 U U N dN Solution to ( U T U ) N = 0, subject to || N || 2 = 1 : eigenvector of U T U associated with the smallest eigenvalue (least squares solution to homogeneous linear system UN = 0 )

Total least squares     n n     x x y y    2 ( ) ( )( ) x x x x y y   1 1   i i i         T 1 1 i i U U U   n n        2 ( )( ) ( )   x x y y y y       x x y y i i i   n n   i 1 i 1 second moment matrix

Total least squares     n n     x x y y    2 ( ) ( )( ) x x x x y y   1 1   i i i         T 1 1 i i U U U   n n        2 ( )( ) ( )   x x y y y y       x x y y i i i   n n   i 1 i 1 second moment matrix N = ( a , b )   ( , ) x x y y i i ( , ) x y

Least squares: Robustness to noise Least squares fit to the red points:

Least squares: Robustness to noise Least squares fit with an outlier: Problem: squared error heavily penalizes outliers

תוינוציח תודוקנ שישכ הרוק המ?

RANSAC • Random sample consensus (RANSAC): Very general framework for model fitting in the presence of outliers M. A. Fischler, R. C. Bolles. Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography. Comm. of the ACM, Vol 24, pp 381-395, 1981.

Fitting a Line Least squares fit

RANSAC • Select sample of m points at random

RANSAC • Select sample of m points at random • Calculate model parameters that fit the data in the sample

RANSAC • Select sample of m points at random • Calculate model parameters that fit the data in the sample • Calculate error function for each data point

RANSAC • Select sample of m points at random • Calculate model parameters that fit the data in the sample • Calculate error function for each data point • Select data that support current hypothesis

RANSAC • Select sample of m points at random • Calculate model parameters that fit the data in the sample • Calculate error function for each data point • Select data that support current hypothesis

RANSAC for line fitting Repeat N times: • Draw s points uniformly at random • Fit line to these s points • Find inliers to this line among the remaining points (i.e., points whose distance from the line is less than t ) • If there are d or more inliers, accept the line and refit using all inliers

Choosing the parameters • Initial number of points s • Typically minimum number needed to fit the model • Distance threshold t • Choose t so probability for inlier is p (e.g. 0.95) • Zero-mean Gaussian noise with std. dev. σ : t 2 =3.84 σ 2 • Number of iterations N • Choose N so that, with probability p , at least one random sample is free from outliers (e.g. p =0.99) (outlier ratio: e ) proportion of outliers e s 5% 10% 20% 25% 30% 40% 50% 2 2 3 5 6 7 11 17 3 3 4 7 9 11 19 35 4 3 5 9 13 17 34 72 5 4 6 12 17 26 57 146 6 4 7 16 24 37 97 293 7 4 8 20 33 54 163 588 8 5 9 26 44 78 272 1177 Source: M. Pollefeys

Choosing the parameters • Initial number of points s • Typically minimum number needed to fit the model • Distance threshold t • Choose t so probability for inlier is p (e.g. 0.95) • Zero-mean Gaussian noise with std. dev. σ : t 2 =3.84 σ 2 • Number of iterations N • Choose N so that, with probability p , at least one random sample is free from outliers (e.g. p =0.99) (outlier ratio: e ) • Consensus set size d • Should match expected inlier ratio Source: M. Pollefeys

RANSAC pros and cons • Pros • Simple and general • Applicable to many different problems • Often works well in practice • Cons • Lots of parameters to tune • Can’t always get a good initialization of the model based on the minimum number of samples • Sometimes too many iterations are required • Can fail for extremely low inlier ratios • We can often do better than brute-force sampling

דחא וקמ רתוי שישכ הרוק המ?

Voting schemes • Let each feature vote for all the models that are compatible with it • Hopefully the noise features will not vote consistently for any single model • Missing data doesn’t matter as long as there are enough features remaining to agree on a good model