18CSE357T – BIOMETRICS
Unit –1 : Session –9: SLO -1
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SRM Institute of Science and Technology
Boundaries of Objects
Marked by many users
http://www.eecs.berkeley.edu/Research/Projects/CS/vision/grouping/segbench/ben
Boundaries of Objects from Edges
Brightness Gradient (Edge detection)
• Missing edge continuity, many spurious edges
Boundaries of Objects from Edges
Multi-scale Brightness Gradient
• But, low strength edges may be very important
Boundaries of Objects from Edges
Machine Edge Detection
Image
Human Boundary Marking
Boundaries in Medical Imaging
Detection of cancerous regions.
[Foran, Comaniciu, Meer, Good
Boundaries in Ultrasound Images
Hard to detect in the presence of large amount of speckle noise
Boundaries of Objects
Sometimes hard even for humans!
Topics
• Preprocessing Edge Images
• Edge Tracking Methods
• Fitting Lines and Curves to Edges
• The Hough Transform
Preprocessing Edge Images
Edge detection
and Thresholding
Image Noisy edge image
Incomplete boundaries
Shrink and Expand
Thinning
Edge Tracking Methods
Adjusting a priori Boundaries:
Given: Approximate Location of Boundary
Task: Find Accurate Location of Boundary
• Search for STRONG EDGES along normals to approximate boundary.
• Fit curve (eg., polynomials) to strong edges.
Edge Tracking Methods
Divide and Conquer:
Given: Boundary lies between points A and B
Task: Find Boundary
• Connect A and B with Line
• Find strongest edge along line bisector
• Use edge point as break point
• Repeat
Fitting Lines to Edges (Least Squares)
Given: Many ( xi , yi ) pairs y
y = mx + c
Find: Parameters (m, c) ( xi , yi )
Minimize: Average square distance:
yi − mxi − c
( yi − mxi − c) 2
E= x
i N
Using:
E E c = y −m x
=0 & =0
m c
( x − x)( y − y)
i i
m= i
y x
Note:
y= i
i
x= i
i
( x − x) i
2
N N i
Problem with Parameterization
y
Line that minimizes E!!
Solution: Use a different parameterization
(same as the one we used in computing Minimum Moment of Inertia)
1
E=
N
i
( − xi cos + yi sin ) 2
Note: Error E must be formulated carefully!
Line fitting can be max.
likelihood - but choice of
model is important
Computer Vision - A Modern Approach
Set: Fitting
Slides by D.A. Forsyth
Curve Fitting
y
Find Polynomial:
y = f ( x) = ax3 + bx2 + cx + d
that best fits the given points ( xi , yi )
Minimize:
x
1
i − + + +
3 2 2
[ y ( axi bxi cx i d )]
N i
E E E E
Using:
=0 , =0 , =0 , =0
a b c d
Note: f (x ) is LINEAR in the parameters (a, b, c, d)
Line Grouping Problem
Slide credit: David Jacobs
This is difficult because of:
• Extraneous data: clutter or multiple models
• We do not know what is part of the model?
• Can we pull out models with a few parts from much
larger amounts of background clutter?
• Missing data: only some parts of model are
present
• Noise
• Cost:
• It is not feasible to check all combinations of
features by fitting a model to each possible subset
Hough Transform
• Elegant method for direct object recognition
• Edges need not be connected
• Complete object need not be visible
• Key Idea: Edges VOTE for the possible model
Image and Parameter Spaces
y = mx + c y
Equation of Line: y = mx + c
Find: (m, c)
Consider point: ( xi , yi ) ( xi , yi )
x
yi = mxi + c or c = − xi m + yi Image Space
m
Parameter space also called Hough Space
(m, c)
c
Parameter Space
Line Detection by Hough Transform
y
Algorithm:
• Quantize Parameter Space (m, c)
(m, c)
• Create Accumulator Array A( m, c )
x
• Set A(m, c) = 0 m, c Parameter Space
A( m, c )
• For each image edge ( xi , yi ) increment: 1 1
1 1
A(m, c) = A(m, c) + 1 1 1
2
• If ( m, c ) lies on the line: 1 1
1 1
c = − xi m + yi 1 1
• Find local maxima in A( m, c )
Better Parameterization
NOTE: − m y
Large Accumulator ( xi , yi )
More memory and computations
Improvement: (Finite Accumulator Array Size)
x
Line equation: = − x cos + y sin Image Space
Here 0 2
0 max
Given points ( xi , yi ) find ( , ) ?
Hough Space Sinusoid
Hough Space
Image space Votes
Horizontal axis is θ,
vertical is rho.
Image votes
space
