Institute of Electrical Measurement and Measurement Signal Processing Professor Horst Cerjak,...
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Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.20051
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
VISION:
• Paradigms
• Systems
• Algorithms
• Applications
• Evaluation
Axel PinzAxel Pinz
A Graph-based structure !
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.20052
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
The Graph of Vision History
Systems1978
Artificial Intelligence1971
Pattern RecognitionImage Proc. 1970s
Robotics1994 ?
Reconstruction1980 ?
Cognitive Psychology1985 ?
Marr1978
Algorithms1962
Image Understanding1980s
Recognition1970s
Neurophysiology1963
R+R1990
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.20053
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Artificial Intelligence
• SHRDLU [Winograd 1971]• Blocks world
original screen display (MIT AI Lab) later color rendering (Univ. Utah)
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.20054
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Blocks World – 1970s
• Natural language understanding• Spatio-temporal reasoning• LISP• Visual input would be nice
• Vision as an “enabling sensory module” in AI– Patrick Henry Winston “The Psychology of Computer Vision” 1975– Marvin Minsky “A framework for representing knowledge” 1975
• Frames
• Frame Representation Language FRL
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.20055
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Blocks World – Today• Still an issue of ongoing research…• EU FP 6 project MACS• 2004-2008
Learning ! “Affordances” …
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.20056
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
AI Methods for Vision – 1980s
• “Image Understanding”
• Expert systems– SIGMA Aerial Image Understanding– Matsuyama, Hwang, …
• Reasoning, Blackboard system– VISIONS, Draper, OHM, …
• Schema learning– SLS, Draper,…
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.20057
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
SIGMA [Matsuyama]
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.20058
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
VISIONS [Hanson+Riseman], SLS [Draper]
A Massachusetts “road”-scene
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.20059
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
“Image Understanding” – 1980s
• Integrating bottom-up and top-down processes combinatorial explosion
• “knowledge engineers”, hand-crafted knowledge-base learning is a must
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200510
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Systems 1990 – 200+
• “Computer Vision Systems”– [Hanson+Riseman 1978]
• UMass VISIONS KBVision– AAI Amerinex Artificial intelligence– AAI Amerinex Applied Imaging
• Grimson Cognex– PatMax
• IUE– TargetJr Joe Mundy
• Matlab• OpenCV• toolboxes, libraries
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200511
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Robotics
• Brooks: “building brains for bodies”– Autonomous Robots 1:7-25, 1994
• Learning!• Interaction!• Reward by survival…!
• Active, purposive, qualitative– Bajcsy 1988– Aloimonos 1989
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200512
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Babybot – Lira Lab [Sandini]
learning to push
learnt
Babybot’s view
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200513
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Neurophysiology
• Retina visual cortex
• Layered representation in visual cortex
• Receptive fields
• Hubel+Wiesel– Gradients– Oriented “edgels”– At various scales– Bottom-up grouping recognition– Visual pathway stereo, reconstruction
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200514
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Visual Pathway [Hubel+Wiesel]
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200515
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Receptive Fields [Hubel+Wiesel]
on-off simple complex
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200516
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Pattern Recognition + Image Processing – PRIP
• Structural [Pavlidis 1972, Fu 1982]• Statistical [Fukunaga 1990]
• Representation (regular, irregular, scale,…) pyramids, scale space, graphs,…
• Feature sets, feature selection, classifiers, learning,…
• 2D (discrete) signal processing
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200517
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Maximum Likelihood Classification
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200518
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Scale Space [Lindeberg]
Space + timeSpace + time[Laptev + Lindeberg][Laptev + Lindeberg]
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200519
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Cognitive Psychology
• Perceptual grouping– Lowe 1985– Sarkar 1994– LLVE Matsuyama
• Qualitative volumetric models (Geons)– Biederman 1985, Bergevin+Levine 1988– Dickinson 1992: Aspect Hierarchy
• A renaissance in today’s shape models for category detection…
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200520
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
My Favorite Example [Lowe]
Very hard !!!
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200521
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
My Favorite Example [Lowe]
Very easy !!!
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200522
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Geons [Biederman], Aspect Hierarchy [Dickinson]
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200523
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Geons [Biederman], Aspect Hierarchy [Dickinson]
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200524
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
The Marr Paradigm – 1978-?
• Systems approach to vision computational model– Algorithm, data, hardware implementation– Low level modules
• Representational levels – Primal sketch saliency– 2-1/2 D reconstruction ! – 3D object model is it really required?
• “reconstruction school”• “visual modules”, “shape from X”• Zerroug 1994• Structure + Motion 200x
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200525
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Marr (~1978) – “primal sketch”
“saliency” !
“Harris” corners
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200526
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Marr (~1978) – “2-1/2-D sketch”, “generalized cone”
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200527
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Marr (~1978) – 3D hierarchical models
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200528
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Marr ~1978, Aloimonos ~1988
“robustness”
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200529
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Zerroug 1994
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200530
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Algorithms
• Convolution kernels• Mathematical morphology structuring elements Serra• Fourier transform spectrum, phase, descriptors, Gabor filter bank• Hough transform voting space• PCA• Pyramids (regular, irregular) graphs• Scale space theory in CV Lindeberg• Algebraic projective geometry Hartley, Zisserman• Color (good chapters in Forsyth+Ponce, Burger+Burge)• Texture invariant moments (Hu … Haralick … VanGool)• Interest point detection (Schmid, …) affine covariance• Pattern Classification Duda+Hart• Machine Learning Hastie et al.
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200531
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Reconstruction
• Projective geometry• Photogrammetry• Essential, fundamental, multiview, …• Calibrated, uncalibrated, autocalibration,
calibration-free,…• Structure and Motion
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200532
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Structure and motion [Schweighofer 2008]
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200533
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Recognition
• Specific objects– PCA [Murase+Nayar 95], Eigenfaces [Pentland 93]
• Categories– Generative [Fergus 2003], discriminative [Opelt 2004]
• Recognition vs. localization• Features (descriptors), grouping
– Shape, texture, color, proximity, similarity,…
• Saliency (detectors)• Active
– Motion, space+time …
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200534
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
Shape-Based Category Detection [Opelt 2006]
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200535
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
“R + R”: Confluence of Recognition and Reconstruction
• “recognition and reconstruction schools will merge” [Aloimonos+Shulman 1989]
• “Marr paradigm – use of 2-1/2D complicates the problem” [Medioni et al. 2000] tensor voting
• Spatio-temporal reasoning and representation
Institute of Electrical Measurement and Measurement Signal Processing
Professor Horst Cerjak, 19.12.200536
9.5.2008History of Computer Vision Paradigms-Systems-Algorithms-Applications-Evaluation Axel Pinz
The Graph of Vision History
Systems1990s
Artificial Intelligence1971
Pattern RecognitionImage Proc. 1970s
Robotics1994 ?
Reconstruction1980 ?
Cognitive Psychology1985 ?
Marr1978
Algorithms1962
Image Understanding1980s
Recognition1970s
Neurophysiology1963
R+R1990