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...
![Page 1: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/1.jpg)
Computer Vision I:an overview
![Page 2: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/2.jpg)
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
![Page 3: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/3.jpg)
Duckietown
Big Picture
4
ModelingClass
Todaywetalkabouthowacamerasensestheworld
Today’sClass
ControlClassPlanningClassPerceptionClass
![Page 4: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/4.jpg)
Duckietown
Motivation for computer vision
6
Onlyonboardsensorisacamera
The Board of Trustees of the London Science Museum
![Page 5: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/5.jpg)
Duckietown
Camera obscura
8
Beforeyougettooexcited:folksknewaboutthisawhilebackBasicprincipleknownto Mozi (470–390BCE)and Aristotle(384–322BCE)
![Page 6: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/6.jpg)
Duckietown
What is computer vision?
Whatallows computers(robots)tomakesenseofthephysicalworldbaseduponmeasurements
ofreflectedlight
9
one-waysign
duckie duckie
swissduckie
stopline
• Locateitselfintheworld• Recognizeobject• Identifyobjectproperties• Determine3Dgeometry• Identifyobject’spose• Inferringactionandmotion• Classifyingscenes• …
Howweseeanimage Howacomputerseesanimage
![Page 7: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/7.jpg)
Duckietown
Computer vision is important for self-driving cars
10https://www.youtube.com/watch?v=_dvyzAA1Cn8
![Page 8: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/8.jpg)
Duckietown
Scale ambiguity
11
![Page 9: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/9.jpg)
Duckietown 12
Scale ambiguity
![Page 10: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/10.jpg)
Duckietown 13
Scale ambiguity
![Page 11: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/11.jpg)
Duckietown 14
Illumination and surface color ambiguity
![Page 12: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/12.jpg)
Duckietown 15
Indirect reflection
![Page 13: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/13.jpg)
Duckietown 16
Indirect reflection
![Page 14: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/14.jpg)
Duckietown 17
In-class (appearance) variation
![Page 15: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/15.jpg)
Duckietown 18
Is it actually possible?
Seemslikeahopelesstask,yethumansandanimalsalldoit
![Page 16: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/16.jpg)
Duckietown
History of CV: Summer Vision Project
19
• figure-groundanalysis:“divideavidisectorpictureintoregionssuchaslikelyobjects,likelybackgroundareasandchaos”
• regiondescription:“analysisofshapeandsurfaceproperties”
• objectclassification:“nameobjectsbymatchingthemwithavocabularyofknownobjects”
…allinonesummer!
![Page 17: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/17.jpg)
Duckietown
History of CV: Everyday applications
20
![Page 18: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/18.jpg)
Duckietown
History of CV: Everyday applications
21
![Page 19: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/19.jpg)
Duckietown
History of CV: Everyday applications
22
![Page 20: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/20.jpg)
Duckietown
History of CV: Everyday applications
23
Courtesy:Mobileye
![Page 21: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/21.jpg)
Duckietown
History of CV
24
![Page 22: Computer VisionI: an overview · 2019. 10. 8. · •Jacopo Tani (ETHZ) ... one-way sign duckieduckie swiss duckie stop line • Locate itself in the world ... History of CV: Everyday](https://reader036.fdocuments.net/reader036/viewer/2022081410/609d57a2267b7433485d6618/html5/thumbnails/22.jpg)
Duckietown
History of CV
25