Introduction to Computer VisionCS / ECE 181BTuesday, April 4, 2006Prof. B. S. ManjunathECE/CS Department Course introduction and overview[thanks to Professor Matthew Turk, CS departmentfor the slides]CS/ECE 181b 2Web site• http://www.ece.ucsb.edu/~manj/ece181b• http://www.ece.ucsb.edu/~manj/cs181b• Last Time:– http://www.ece.ucsb.edu/~manj/ece181bS04CS/ECE 181b 3Text Book• NO Text Book– Follow the classroom discussions– Handouts and Lecture slides• Reference Books (not required)– Hartley & Zisserman, Multiview Geometry– Forsyth and Ponce, “Computer Vision: A Modern Approach” (wasthe text used last year)– Nalwa, “A Guided Tour of Computer Vision”; a good introductorybook for casual reading– Jain and Kasturi, “Machine Vision”; I used it in 1999.– Horn, “Robot Vision”. A classic, but outdated.CS/ECE 181b 4This Quarter…• Vision is unlike any other course you may have taken inengineering/science.• There are MANY questions, very few answers! Remember this as wego through this subject.• We are so familiar with seeing, that it takes a leap of imagination torealize that there are problems to be solved ---- Richard Gregory• Seeing is believing –Gregory?• Vision is a bag of tricks --- Ramachandran, UCSDCS/ECE 181b 5Computer Vision• What is computer vision?– “Making computers see”Nicesunset!“Extracting descriptions of the world from pictures orsequences of pictures”CS/ECE 181b 6Seeing is believing…CS/ECE 181b 7Computer Vision• Also known as image understanding, machine vision,computational vision• CV is about interpreting the content of images*– Field is 35-40 years old– Child of AI• Vision is easy, right? Just open your eyes!– No, it’s a hard problem!– Much of your very complex brain is devoted to doing vision– It involves cognition, navigation, manipulation and learning Not just simple “match a feature vector to a database” tasksCS/ECE 181b 8HW #1• Binocular vision (seeing with two eyes) is critical tohuman vision (and to most animals). I would like you tothink about the “computational” issues involved in seeingwith two eyes. Explain, in your own words, the problemsthat the human brain needs to solve in perceiving theimages obtained from the left and the right eyes.– Keep your answer to no more than 3 pages, including figures, text,etc.– Turn in your h/w in the h/w box on the fifth floor of Engineering I.– Due: April 11, 2006, 5PM.CS/ECE 181b 9Relation to other fieldsImage processingPattern recognitionComputer graphicsMachine learningProbability and statisticsGeometryOpticsPerceptionAI, roboticsCS/ECE 181b 10Computer GraphicsImageOutput:ModelSyntheticCameraProjection, shading, lighting modelsCS/ECE 181b 11Computer VisionModelOutput:Real SceneCameras ImagesCS/ECE 181b 12Aims of Computer Vision• Automate visual perception• Construct scene descriptions from images• Make useful decisions about real physical objects andscenes based on sensed images• Produce symbolic (perhaps task-dependent) descriptionsfrom images• Produce from images of the external world a usefuldescription that is not cluttered with irrelevant information• Support tasks that require visual informationCS/ECE 181b 13Some applications of computer vision• Photogrammetry, GIS– Commercial, military, government• Robotics– Industrial, military, medical, space, entertainment• Inspection, measurement• Medical imaging– Automatic detection, outlining, measurement• Graphics and animation, special effects• Surveillance and security• Multimedia database indexing and retrieval, compression• Human-computer interaction (VBI)CS/ECE 181b 14What Does Computer Vision Do? 3D m 3D models of objectsObject recognition NavigationEvent/action recognition…CS/ECE 181b 15Vision Transforms From This…01 00 05 00 03 00 02 00 00 03 01 01 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 0103 30 3A 38 39 2D 1D 15 10 0E 0C 0A 0A 0A 09 06 08 07 06 06 05 05 07 07 04 05 04 04 06 02 01 02 02 02 02 07 01 02 02 0303 22 1B 16 14 0A 08 0B 0A 0D 0B 0B 0C 06 07 05 05 06 06 06 03 07 04 06 05 09 05 04 05 01 04 04 02 03 03 04 02 04 03 0200 0F 0B 04 10 07 09 07 08 09 09 08 05 08 08 05 09 03 08 05 02 08 08 06 06 04 02 05 03 02 05 05 00 02 02 04 04 00 00 0300 07 09 0E 0C 07 08 0A 0A 0B 0F 0A 0C 07 06 0B 07 0B 05 0B 08 09 07 03 08 04 04 02 00 04 02 04 00 04 03 08 00 06 09 0400 0E 0C 09 09 08 08 07 08 09 09 0A 05 08 07 07 07 09 08 0A 08 09 06 0A 03 09 07 06 06 03 05 03 01 06 02 03 07 01 04 0402 0C 0B 0A 05 08 09 0A 0C 0A 0A 08 0A 0A 06 08 06 06 04 06 02 06 07 04 04 04 06 09 05 05 08 06 04 05 04 06 01 0A 03 0202 0B 14 0F 0F 0D 0A 0E 0A 0C 0C 0E 0A 0C 0B 09 0A 09 0A 0A 09 0B 0B 05 0C 0C 0A 04 07 06 03 05 07 04 05 03 02 01 06 0302 10 12 0B 10 0A 0D 0D 0B 0D 0C 0B 0B 0C 0D 0B 0B 0A 0A 0A 0B 0C 17 15 1C 15 0D 08 09 08 05 05 05 04 02 05 04 04 00 0401 15 0E 10 12 0C 0D 0C 0C 0A 0B 0B 09 0C 0F 09 09 0D 07 0B 08 15 60 5D 61 59 33 0D 0A 07 08 08 05 03 06 07 01 03 05 0202 12 10 0F 0E 10 10 0B 0C 0F 0F 0E 0C 10 0D 15 10 09 12 11 12 50 68 66 89 71 5E 3F 08 09 0A 09 0A 03 03 02 05 05 04 0201 11 12 0C 11 13 10 10 0B 10 0F 0C 11 11 13 0D 0F 0D 0D 0B 25 7A 7F 79 6D 80 6E 54 0C 0D 09 0A 06 04 02 05 00 05 04 0301 10 0F 0D 12 0E 10 0E 0F 13 13 11 13 17 11 0F 14 11 11 14 39 84 88 7E 8C 73 7A 5C 1E 05 0A 0F 0E 0C 05 02 04 03 06 0502 0F 15 0D 18 11 0D 11 14 10 12 12 14 19 13 17 13 16 16 20 73 68 87 89 93 8B 83 69 43 07 0A 12 0A 0B 06 06 03 04 05 0302 13 14 14 16 11 13 13 17 12 17 17 28 1E 1A 17 19 14 12 4F 7D 74 85 91 93 8C 7F 6F 5F 0B 09 12 0D 0C 02 04 07 04 05 0400 0F 16 0F 13 12 10 1D 12 21 15 1E 21 1F 1C 1D 2D 1A 2D 7C 7A 95 6B 30 48 62 87 71 5C 0A 08 11 0C 09 04 04 02 06 04 0300 10 1C 10 11 1A 0D 1A 1A 25 28 33 30 26 2B 3E 29 35 6C 83 5E 7B 94 8A 5A 3D 42 76 5C 13 08 13 0F 0C 04 04 01 05 05 0301 12 17 1A 19 18 15 20 29 20 3F 1F 37 29 39 49 24 33 8F 93 B4 AE 79 42 39 73 7D 89 46 12 06 12 12 0F 08 03 03 03 04 0301 13 20 0F 14 26 1B 18 20 2F 3D 3E 42 3B 45 2E 48 …