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Sesin 1: Introduccin a la
visin artificial
Departamento CCIA
http://www.rvg.ua.es/master/vision/2011/
Hoy
Introduccin a la asignatura
Introduccin a la Visin Artificial
Prcticas: Python, Scipy, Numpy, OpenCV
Introduccin a la
asignatura
Temario
Teora
1. Introduccin a la Visin Artificial y a sus
aplicaciones
2. Clasificacin de imgenes mediante histogramas y
caractersticas
3. Extraccin y emparejamiento de contornos
4. Tracking de objetos
5. Visin 3D: modelo y calibracin de cmara,
cmaras estreo
6. Matching y reconstruccin 3D a partir de nubes de
puntos
Prcticas
1. Desarrollo de software para visin artificial con
OpenCV, Scipy y Python
2. Visin 3D con Point Cloud Library (PCL)
Bibliografa
Computer Vision: Algorithms and Applications de
Szelinsky
Learning OpenCV
Python Scientific Lecture Notes
Software
Python + Numpy/Scipy + Matplotlib
OpenCV (interfaz Python)
PCL (Point Cloud Library)
Evaluacin
50% Prctica 1
20% Prctica 2
30% Presentacin de un trabajo
Presentacin de un artculo sobre alguna aplicacin
prctica que use alguna de las tcnicas de la
asignatura, entrando en detalles tcnicos de
implementacin
Se realizar en las horas de prcticas del ltimo da
de la asignatura (mircoles 21 de diciembre)
Introduccin a la Visin
Artificial
Qu es la vision artificial?
El objetivo de la visin artificial es desarrollar
programas que sean capaces de interpretar
imgenes y vdeo, obteniendo informacin sobre
ellas
Vision
as measurement device
Visin como un instrumento de medidad
Real-time stereo
Reconstruction from
Internet photo collections
Goesele et al.
Pollefeys et al.
Fei-Fei Li
Vision
Lecture 1 -
amusement park
sky
The Wicked
Twister
Cedar Point
Ferris
wheel
ride
24
23-Sep-11
como fuente
de informacin information
semntica
asVisin
a source
of semantic
Lake Erie
ride
12 E
water
Objects
Activities
Scenes
Locations
Text / writing
Faces
Gestures
Motions
Emotions
ride
tree
tree
tree
deck
Fei-Fei Li
bench
carousel
tree
pedestrians
25
Lecture 1 -
maxair
23-Sep-11
10
Biologa
Psicologa
Informtica
Matemticas
Fsica
Ingeniera
Psychology
Neuroscience
Engineering
Robotics
Cognitive
sciences
graphics,algorithms,
system,theory,
Speech
Computer
Science
Computer Vision
Information retrieval
Image
processing
Machine learning
Physics
Fei-Fei Li
Maths
Lecture 1 -
23-Sep-11
11
La visin es interesante
Permite distintos enfoques y tcnicas
Resultados visuales y atractivos
La visin es difcil
La mitad del cortex cerebral de los primates se utiliza
para el procesamiento visual
La comunidad investigadora es bastante exigente
para la publicacin de papers en congresos y revistas
12
Tringulo de Kaniza
Kaniza en 3D
13
14
14
14
La percepcin es ambigua
Bottom
line
Muchas escenas 3D
diferentes
pueden dar lugar a
line
la mismaisescena
2DBottom
Perception
an inherently
ambiguous problem
Perception is an inherently ambiguous problem
Fei-Fei Li
Fei-Fei Li
Lecture 1 -
47
Lecture 1 -
47
23-Sep-11
23-Sep-11
15
16
Guzman 68
Ohta Kanade 78
17
Definicin ms formal
Necesitamos una definicin ms formal, que tenga
en cuenta los aspectos fsicos, computacionales y
matemticos
Image plane
Light energy
Internal
model
of world
Object
recognition
(Michael J. Black)
Formacin de la imagen
Digital Images
CS143 Intro to Computer Vision
World
Camera
Digitizer
Michael J. Black
Digital
Image
2.3 in Szeliski
18
CS143 Intro to Computer Vision
Michael J. Black
Tcnicas y niveles
Imgenes
Grayscale Image
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Michael J. Black
sharpening
blurring
original image
Canny
(Linda Shapiro,
Computer vision,
Washington Univ)
19
Tcnicas y niveles
Nivel medio: imgenes a caractersticas
edge image
K-means
clustering
BED
(Hoeim)
20
Photosynth.net
3D urban modeling: Microsoft Photosynth
http://labs.live.com/photosynth/
Source: S. Seitz
http://photosynth.net/
21
Reconocimiento de caracteres
22
Cmaras digitales
http://www.apple.com/ilife/iphoto/
iPhoto de Apple
Fei-Fei Li
Lecture 1 -
55
23-Sep-11
Efectos especiales
23
Sistemas de seguridad
http://www.sensiblevision.com/
24
Tracking de objetos
Sportvision first down line
Nice explanation on www.howstuffworks.com
http://www.sportvision.com/video.html
25
26
NASA'S Mars Exploration Rover Spirit captured this westward view from atop
a low plateau where Spirit spent the closing months of 2007.
Panorama stitching
3D terrain modeling
Obstacle detection, position tracking
For more, read Computer Vision on Mars by
Matthies et al.
Robots mviles
http://www.robocup.org/
Kurt Konolige
27
http://make3d.cs.cornell.edu/
Bringing pictorial space to life. Antonio Criminisi, Martin
Kemp, Andrew Zisserman (2002 paper, vdeo)
Image plane
(wall, canvas)
Reconstructed 3D structure
Vantage point (observer)
Reprojection image
Figure 25: The reprojection image is defined as the image created by projecting the computed three-dimensional reconstruction
Figure 22: Three-dimensional
onto the plane of the painting.
reconstruction of The Music Lesson. (a) A lady at the virginals with a gentleman (the music lesson
cm, by Johannes Vermeer (1632-1675). (b-f) Snapshots of a virtual fly-through inside the reconstructe
(1662-65),
painting to show different views of the room.
The above
section suggests
the use
of our three-dimensional
as a way
accuracy
of
28
virtual
museum
and the
reconstructed
3D visualization
paintings.tool (a),
(b)of assessing
and (c)theThe
fading
the reconstructed scene geometry and the correctness of the retrieved vantage position. In fact, the perfect transition
something
by
eye,
as
Steenwick
was
done
with
the
window,
there
is
a
tendency
to
make
the
forms
look right
the of
museum
room to the painted scene
is achievedfrom
only when
the reconstructed
painting and(c).
its vantage
o afrom
view
its reconstructed
3D model
the both
correct
vantage3Dlocation
Image
29
Python, Scipy/Numpy,
OpenCV
Software cientfico
Problemas de Matlab
Python: lenguaje de programacin muy extendido
en reas cientficas
Lenguaje de script
Intrepretado
Dbilmente tipeado
Prototipado rpido, no es muy eficiente
Referencias
Documentacin de Numpy/Scipy
Blog
31
OpenCV
Historia
Librera desarrollada inicialmente por Intel
Mantenido en la actualidad por la empresa de
robtica Willow Garage
Caractersticas principales
Proporciona una librera open source bien testeada y
optimizada para procesamiento de imagen, visin y
operaciones geomtricas
Escrita en C, asegurndose que la implementacin es
rpida y portable
Compilado para mltiples plataformas, incluyendo
plataformas embebidas y GPUs
Wrappers para distintos lenguajes, incluyendo python
Referencias
Wiki de OpenCV: Wiki de OpenCV
OpenCV 2.1 Python Reference: Manual de referencia
de la interfaz Python en WillowGarage
32
Referencias
Computer Vision: Algorithms and Applications de
Szelinsky: cap. 1
Learning OpenCV: cap. 1 y 2
Python Scientific Lecture Notes: cap. 1
33