AnnouncementsMatching Sets of Point FeaturesAssumptionsShape SpacePre-shapeShapeProcrustes DistancesLinear Pose SolvingLinear Pose: 2D rotation, translation and scaleSimilarity MatchingIssues with this approachPowerPoint PresentationSlide 13Why Procrustes Distance?Tangent SpaceOther Point Matching Approaches: Chamfer MatchingSlide 17Then, minimize this distance over pose.VariationsThin-Plate SplinesSlide 21Announcements•Take home quiz given out Thursday 10/23–Due 10/30.Matching Sets of Point Features1. Find best transformation.•Similarity transformation, thin-plate splines.2. Measure how good it is.–Chamfer distance, Haussdorf distance, Euclidean distance, procrustean distance, deformation energy.Assumptions•Two sets of 2D points.•Mostly we assume there exists a correct one-to-one correspondence•And this correspondence is given.–This is very natural in morphometrics, where points are measured and labeled.–In vision we must solve for correspondence. Next class we’ll look at papers that do this.Shape Space•What is shape? Qualities of points that don’t depend on translation, rotation or scale.•So describe points independent of similarity transformation.1. Remove translation.•Simplest way, translate so point 1 is at origin, then remove point one.•More elegant, translate center of mass to origin, remove a point.2. Scale so that sum ||Xi||^2 = 1.Resulting set of points is called pre-shape.Pre because we haven’t removed rotation yet.Notation: , U and X denote sets of normalized points. Points called Xi and Ui, with coordinates (xi,yi), (ui, vi).Pre-shape•If we started with n points, we now have n-1 so that:•sum xi^2 + yi^2 = 1.•So we can think of these coordinates as lying on a unit hypersphere in 2(n-1)-dimensional space.Shape•If we consider all possible rotations of a set of normalized points, these trace out a closed, 1D curve in pre-shape space.•Distances between shapes can be thought of as distances between these curves.–Notice that to compute distance, without loss of generality we can assume that one set of points (U) does not rotate, since rotating both point sets by the same amount doesn’t change distances.Procrustes Distances•Full Procrustes Distance. DF–min(s, ) ||U – sXRThat is, we find a scaling and rotation of X that minimizes the euclidean distance to U. (R() means rotate by .•Partial Procrustes Distance. DP–min( ) ||U – XRThat is, rotate X to minimize the euclidean distance to U.•Procrustes Distance. –Rotate X to minimize the geodesic distance on the sphere from X to U.Linear Pose Solving•We can linearly find optimal similarity transformation that matches X to U. (ie., minimize sum ||AXi-Ui||^2, where A is a similarity transformation. –This is asymmetric between X and U.•In same way we can linearly compute Full Procrustes Distance.–This is symmetric.–Leads immediately to other procrustes distances.Linear Pose: 2D rotation, translation and scalesin,coswith 111...111...cossinsincos...212121212121sbsayyyxxxtabtbayyyxxxttsvvvuuunnyxnnyxnn• Notice a and b can take on any values.• Equations linear in a, b, translation.• Solve exactly with 2 points, or overconstrained system with more.sabas cos22Similarity Matching•Given point sets X and U, compare by finding similarity transformation A that minimizes ||AX-U||.–X = points X1, …Xn. U = points U1…Un.–Find A to minimize sum ||AXi – Ui||^2–This is just a straightforward, linear problem.•Taking derivatives with respect to four unknowns of A gives four linear equations in four unknowns.Issues with this approach•It is asymmetric.–Ok when comparing a model to an image.–Not so sensible for comparing two shapes.•Note that we now also know how to calculate the Full Procrustes Distance. This is just a least-squares solution to the overconstrained problem: nnnnnnyyyxxxabbayyyxxxsvvvuuu212121212121......cossinsincos...•It is not obvious that Full Procrustes is symmetric.Given two points on the hypersphere, we can draw the plane containing these points and the origin.DFDPProcrustes Distances is  DP = 2 sin ( /2)DF = sin • These are all monotonic in  . So the same choice of rotation minimizes all three.• DF is easy to compute, others are easy to compute from DF.Why Procrustes Distance?•Procrustes distance is most natural. Our intuition is that given two objects, we can produce a sequence of intermediate objects on a ‘straight line’ between them, so the distance between the two objects is the sum of the distances between intermediate objects. This requires a geodesic.Tangent Space•Can compute a hyperplane tangent to the hypersphere at a point in preshape space.•Project all points onto that plane.•All distances Euclidean. Average shape easy to find.•This is reasonable when all shapes similar.•In this case, all distances are similar too.–Note that when   is small, , 2sin( /2), sin() are all similar.Other Point Matching Approaches: Chamfer MatchingidFor every edge point in the transformed object, compute the distance to the nearest image edge point. Sum distances.||),||||,,||||,,min(||211 miiniiqpqpqp Main Feature:• Every model point matches an image point.• An image point can match 0, 1, or more model points.Then, minimize this distance over pose.•Example: minimum Chamfer distance over all translations.||),||||,,||||,,min(||min211 miiniiqtpqtpqtptVariations•Sum a different distance–f(d) = d2 –or Manhattan distance.–f(d) = 1 if d < threshold, 0 otherwise.–This is called bounded error.•Use maximum distance instead of sum.–This is called: directed Hausdorff distance.–Use median distance.•Use other features– Corners.–Lines. Then position and angles of lines must be similar.•Model line may be subset of image line.Thin-Plate SplinesA function, f, R2 -> R2 is a thin-plate spline if:• Constraint: Given corresponding points: X1…Xn and U1…Un, f(Xi)=Ui.• Energy: f minimizes the