Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign...
Transcript of Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign...
Computer Vision I:an overview
Credits
TheseslidesarepartoftheDuckietownproject.FormoreinformationaboutDuckietown,seethewebsitehttp://duckietown.org
Explains Prerequisites
• Whatcomputervision(CV)isandwhyitisimportant
• None
• JacopoTani(ETHZ)– October2017,October2018,October2019
• MatthewR.Walter(TTIC)- September2017
• Changhyun Choi(MIT)– February2016
SomeslidesadaptedfromAyan ChakrabartiandLanaLazebnik
ComputerVisionI
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Big Picture
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ModelingClass
Todaywetalkabouthowacamerasensestheworld
Today’sClass
ControlClassPlanningClassPerceptionClass
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Motivation for computer vision
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Onlyonboardsensorisacamera
The Board of Trustees of the London Science Museum
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Camera obscura
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Beforeyougettooexcited:folksknewaboutthisawhilebackBasicprincipleknownto Mozi (470–390BCE)and Aristotle(384–322BCE)
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What is computer vision?
Whatallows computers(robots)tomakesenseofthephysicalworldbaseduponmeasurements
ofreflectedlight
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one-waysign
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• Locateitselfintheworld• Recognizeobject• Identifyobjectproperties• Determine3Dgeometry• Identifyobject’spose• Inferringactionandmotion• Classifyingscenes• …
Howweseeanimage Howacomputerseesanimage
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Computer vision is important for self-driving cars
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Scale ambiguity
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Scale ambiguity
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Scale ambiguity
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Illumination and surface color ambiguity
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Indirect reflection
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Indirect reflection
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In-class (appearance) variation
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Is it actually possible?
Seemslikeahopelesstask,yethumansandanimalsalldoit
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History of CV: Summer Vision Project
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• figure-groundanalysis:“divideavidisectorpictureintoregionssuchaslikelyobjects,likelybackgroundareasandchaos”
• regiondescription:“analysisofshapeandsurfaceproperties”
• objectclassification:“nameobjectsbymatchingthemwithavocabularyofknownobjects”
…allinonesummer!
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History of CV: Everyday applications
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History of CV: Everyday applications
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History of CV: Everyday applications
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History of CV: Everyday applications
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Courtesy:Mobileye
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History of CV
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History of CV
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