The Odyssey of: Shape Matching with Ordered Boundary Point Shape Contexts Using a Least Cost...

1

The Odyssey of:Shape Matching with Ordered

Boundary Point Shape Contexts Using a Least Cost Diagonal Method

By Dr. Carl E AbramsJan 26th, 2008

2

•Odyssey:

a long wandering and eventful journey Or

If we knew what we were doing, it wouldn't be called research, would it? – A Einstein

3

Agenda• Topic Selection

• The Eventful Journey

– Elation

– Mild Desperation

– Elation

– Beyond Desperation

– Relief (Success)

• Discussion / Lessons Learned

4

Topic Selection or…

• First Idea: Requirements Engineering and Business Process Modeling

• I despised the topic area

5

Topic Selection or…Roots

• Identification of Automotive Vehicles Using Semantic Feature Extraction (Dec 2004)

Elation!

6

Dissertation TimelineCarl E. Abrams

9/03

1/04

1/05

1/06

Complete Draft Proposal

Advisor Selection

First Paper at Pace Day

Draft Idea Paper

Committee Formation

Complete Dissertation

Proposal

Draft Chap 1&2

Draft Chap 3&4

Final Draft Chap 1-3

Draft Chap 4&5

Final Manuscript and Paper

Defense

Now!

7

The Eventful Journey

8

Semantic Geometric Features: A Preliminary Investigation of Automobile Identification

Carl E. AbramsSung-Hyuk Cha, Michael Gargano, and Charles

Tappert

9

Agenda

• Overview of the Problem

• The Experiments

• Results

• Going Forward

10

Overview

• Object recognition remains a hard problem

• The human mind uses shapes to recognize objects

• Can semantic features defined by their shapes be more effective in the recognition and identification of objects?

11

The Experiments• 10 test images of cars

• Directly form the manufactures websites

• Images were restricted to side views of the cars taken from 90 degrees

• All 2005 models

• Feature vectors calculated/measured from the images

12

The Vehicles

Honda Accord Sedan 2005 Honda Civic Coupe 2005 Mazda 3 2005

Mazda 6 2005 Porsche Carrera Toyota Camry 2005

Toyota Corolla CE 2005 Toyota Celica GT 2005 Toyota Echo 2005

VW Passat 2005

13

Experiments used Euclidean Distance

as the Measure

L

iii txd

1

2)(

the xi and ti are measurements from two different vehicles

14

Experiments used Euclidean Distance

as the Measure

(x1,y1)

(x2,y2)c

a

b c = (a2+b2)1/2

c = ((x1-x2)2+(y1-y2)2)1/2

15

Manufacturers SpecificationsFirst Experiment

Vehicle Description Wheelbase in inches Width Length Height Honda Accord Civic Coupe 2005 103.1 66.7 175.4 55.1 Honda Accord Sedan 2005 107.9 71.5 189.5 57.1 Mazda 3 2005 103.9 69.9 178.3 57.7 Mazda 6 2005 105.3 70.1 186.8 56.7 Porsche Carerra 2005 92.52 71.18 174.29 51.57 Toyota Camry 2005 107.1 70.7 189.2 58.7 Toyota Celica GT 2005 102.4 68.3 170.5 51.4 Toyota Corolla CE 2005 102.4 66.9 178.3 58.5 Toyota Echo 2005 92.3 65.4 164.8 59.4 VW Passat 2005 106.4 68.7 185.2 57.6

16

Boundary Description using RaysSecond Experiment

Ray length in mm at angles in degress

Vehicle Description Wheelbase in mm 5 10 15 20 25 30 35 40 45 50 55 60Honda Accord Civic Coupe 2005 148 125 121 123 110 95 90 86 81 78 75 70 66Honda Accord Sedan 2005 139 120 116 118 110 98 90 85 80 78 73 70 67Mazda 3 2005 146 118 113 115 113 100 94 89 84 80 78 71 67Mazda 6 2005 140 118 104 115 109 95 88 84 80 76 72 69 63Mercedes Benz C230 Sports Coupe 2005 138 102 115 112 115 100 94 89 82 79 73 71 67Nissan Altima 2005 136 115 110 110 110 91 86 81 76 71 66 63 62Porsche Carerra 2005 128 112 112 115 100 90 82 76 71 67 66 62 60Toyota Camry 2005 136 126 127 126 120 101 94 88 86 73 73 71 68Toyota Celica GT 2005 134 102 104 111 113 87 82 75 68 65 63 60 57Toyota Corolla CE 2005 144 119 117 120 113 96 93 89 84 82 77 73 69Toyota Echo 2005 154 125 124 127 112 113 108 100 99 96 92 87 84VW Passat 2005 145 122 120 120 110 96 90 86 82 74 72 69 66

17

Semantic FeaturesThird Experiment

Vehicle Description Wheelbase in mm Angle FD Length FD Angle RD Length RD Angle Mirror Length MirrorHonda Accord Civic

Coupe 2005 148 123 33 0 0 51 50Honda Accord Sedan 2005 139 98 28 154 63 51 47

Mazda 3 2005 146 92 30 150 58 51 50Mazda 6 2005 140 93 29 151 64 47 48

Mercedes Benz C230 Sports Coupe

2005 138 126 37 0 0 52 43

Nissan Altima 2005 136 98 25 153 58 47 45Porsche Carerra

2005 128 144 33 0 0 69 34

Toyota Camry 2005 136 85 24 151 62 42 53Toyota Celica GT

2005 134 125 31 0 0 49 44Toyota Corolla CE

2005 144 90 34 148 63 42 58Toyota Echo 2005 154 97 34 0 0 49 65VW Passat 2005 145 97 36 154 59 47 50

18

Challenge: Determine the qualitative ability of the feature vectors to separate the vehicles

• Within each experiment compute the distance of each vehicle from all the others

• Evenly divide the measures into 5 bins• Observe the distribution of the measures

19

The Results

05

101520253035404550

Bin1 Bin2 Bin3 Bin4 Bin5

HWDSemanticRays

20

Distance Matrix – Semantic Features

0 156.02 153.17 154.00 27.66 155.96 2.82 151.90 26.07 156.23

156.02 0 7.21 7.07 161.72 16.09 156.36 13.45 154.01 4.12

153.17 7.21 0 4.24 159.78 11.44 153.60 9.43 150.09 7.55

154.00 7.07 4.24 0 160.89 9.43 154.37 6.55 151.06 5.00

27.65 161.73 159.77 160.89 0 164/35 27.58 159.84 51.08 162.50

155.96 16.09 11.44 9.43 164.35 0 156.36 5.83 151.63 13.34

2.82 156.36 153.60 154.36 27.58 156.36 0 152.24 28.00 156.53

151.90 13,45 9.43 6.55 159.84 5.83 152.24 0 148.33 10.48

26.07 154.01 150.09 151.06 51.07 151.63 28.00 148.33 0 154.01

156.23 4.12 7.55 5.00 162.50 13.34 156.53 10.48 154.01 0

Honda Civic

Honda Accord

Mazda 3 Mazda 6 Porsche Carerra

Toyota Camry

Toyota Celica

Toyota Corolla

Toyota Echo

VW Passat

Honda Civic

Honda Accord

Mazda 3

Mazda 6

Porsche Carerra

Toyota Camry

Toyota Celica

Toyota Corolla

Toyota Echo

VW Passat

21

End of First Dead End

Mild Desperation

22


9/03

1/04

1/05

1/06


Advisor Selection


Draft Idea Paper

Committee Formation


Proposal

Draft Chap 1&2

Draft Chap 3&4


Draft Chap 4&5


Defense

Now!

Mild Desperation sets in

23

Shape Contexts

• Shape Contexts are a novel shape descriptor introduced be Belongie[1]

• Describes a shape by quantifying each point on the boundary of a shape by its relationship to all the on the boundary points on the shape

• Compares shapes by comparing shape contexts

[1] S. Belongie, "Image segmentation and shape matching for object recognition," vol. PhD, 2000, pp. 60.

24

Shape Contexts-Constructing

0 30 60 90 120 150 180 210 240 270 300 330 360

Angle in Degrees

0 30 60 90 120 150 180 210 240 270 300 330 360

Angle in Degrees

log r

r

r

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

x

x x

x

1

2

4

6

3x

5x

25

30deg

60deg 90deg

2

1

1.732

30deg

60deg 90deg

2

1

1.732

30deg

60deg 90deg

2

1

1.732

30deg

60deg 90deg

2

1

1.732

30deg

60deg 90deg

2

1

1.732

30deg

60deg 90deg

2

1

1.732

Shape Contexts-Constructing

Point x y angleturningangle adj angle distance

normalizeddistance angle

turningangle adj angle distance

normalizeddistance angle

turningangle adj angle distance

normalizeddistance

1 0 0 0 270 0 0.0000 0.0000 240 270 330 2.0000 1.2680 180 270 270 1.0000 0.63402 1 1.732 60 180 240 2.0000 1.2680 0 180 0 0.0000 0.0000 90 180 270 1.7320 1.09813 1 0 0 60 300 1.0000 0.6340 270 60 210 1.7320 1.0981 0 60 0 0.0000 0.0000

Point1 Point 2 Point 3

26

Shape Contexts-Comparing

0102030405060708090

Bin 1 Bin 3 Bin 5 …Bin60

Count

0102030405060708090


Count

0102030405060708090


Count

0102030405060708090


CountUnknown

Known

Known

Known

CHI^2 Test where K= # of bins, g is unknown histogram and h is the known histogram

1 2 3

1 0 2 4

2 2 0 4

3 4 4 0

Half Size Triangle

Full Size Triangle

27

Shape Contexts-Properties: Translation

x x

x

xx

xx x

x

xx

x

016

025

1.732124

3.464223

1.732112

001

YXPoints

016

025

1.732124

3.464223

1.732112

001

YXPoints

x x

x

xx

xx x

x

xx

x

126

135

2.732134

4.464233

2.732122

111

YXPoints

126

135

2.732134

4.464233

2.732122

111

YXPoints

28

Shape Contexts-Properties: Scale

x x

x

xx

x x x

x

xx

x

0.56

015

0.86614

1.732113

0.866.52

001

YXPoints

0.56

015

0.86614

1.732113

0.866.52

001

YXPoints

016

025

1.732124

3.464223

1.732112

001

YXPoints

016

025

1.732124

3.464223

1.732112

001

YXPoints

x x

x

xx

xx x

x

xx

x x x

x

xx

xx x

x

xx

x

0.56

015

0.86614

1.732113

0.866.52

001

YXPoints

0.56

015

0.86614

1.732113

0.866.52

001

YXPoints

016

025

1.732124

3.464223

1.732112

001

YXPoints

016

025

1.732124

3.464223

1.732112

001

YXPoints

06610646

6061010105

66066104

1010606103

61066062

4101010601

Point

654321

Point

06610646

6061010105

66066104

1010606103

61066062

4101010601

Point

654321

Point

29

Shape Contexts-Properties: Rotation

xx xx

x

x

2

3.4642

4

01.73216

03.46425

1.01.73214

2.003

1.002

001

YXPoints

01.73216

03.46425

1.01.73214

2.003

1.002

001

YXPoints

1 2 3 4 5 61 6.00 4.00 0.00 8.00 3.33 10.002 8.00 6.00 8.00 0.00 6.00 10.003 8.00 6.00 3.33 6.00 0.00 10.004 6.00 10.00 10.00 10.00 10.00 0.005 0.00 8.00 6.00 8.00 8.00 6.006 8.00 0.00 4.00 6.00 6.00 10.00

Point

Point

xx xx

x

x

2

3.4642

4

xx xx

x

xx

x xxx

x

2

3.4642

4

01.73216

03.46425

1.01.73214

2.003

1.002

001

YXPoints

01.73216

03.46425

1.01.73214

2.003

1.002

001

YXPoints

1 2 3 4 5 61 6.00 4.00 0.00 8.00 3.33 10.002 8.00 6.00 8.00 0.00 6.00 10.003 8.00 6.00 3.33 6.00 0.00 10.004 6.00 10.00 10.00 10.00 10.00 0.005 0.00 8.00 6.00 8.00 8.00 6.006 8.00 0.00 4.00 6.00 6.00 10.00

Point

Point

x x

x

xx

xx x

x

xx

x

016

025

1.732124

3.464223

1.732112

001

YXPoints

016

025

1.732124

3.464223

1.732112

001

YXPoints

30

Progress Report

The Role of Semantic Featuresin Automobile Identification

as of December 10th , 2005Carl E. Abrams

31

Agenda

• Review of Topic and Approach (Elevator Pitch)

• Summary Results to Date

• Next Steps

32

Review of Topic and Approach

• Develop an image segmentation and feature extraction / classification scheme for automobiles that employs the shapes of “semantic” parts and their geometric relationships. – Semantic features are the shapes of : windows, doors, front

and rear quarter panels.

33

Review of Topic and Approach

• Approach:Develop a test database of vehicles by collecting side imagesDevelop/beg borrow or steal/software to interactively extract the shape and geometric information from the imagesWork through all the classification test databaseIn parallel continue building the master database

– Develop, test and compare segmentation / extraction method for semantic shapes

34

Preliminary Results-Test DBAs of Oct 15: All Ford models back to 1990 ~ 50 images

As of Nov 12: Acura, Audi, Chrylser, Dodge, Ford, Honda, Mercury, Nissan, Pontiac, Saab, Saturn, Toyota, Volvo, VW models back to 1990 ~125 images

35

Preliminary Results-Image Segmentation Software

• Modified CTMRedit: a matlab GUI for viewing, segmenting, and interpolating CT and MRI Images– Written by Mark Hasegawa-Johnson and Jul Cha

• Simplified GUI and added capability to store shapes specific to vehicle identification

36

Preliminary Results-Image Segmentation Software Examples

37

Preliminary Results

• Create a feature vector that allows the comparison of one shape to another:

Vector_Known(ws1,ws2,ws3,ws4,ds1,ds2,body shape) Vector_Unknown(ws1,ws2,ws3,ws4,ds1,ds2,body shape)

Feature vector depends on shape descriptor in this case “Shape Contexts”

38

Preliminary Results – Shape Contexts

• How to effectively describe a shape?

r

o

39



r

o r (5 bins)

O (12 Bins)

40



0102030405060708090


Count

Develop the Shape Context histograms for every point on the shape

41

Preliminary Results – Distance Between Shape Contexts


0102030405060708090


Count

0102030405060708090


Count

0102030405060708090


Count

0102030405060708090


CountUnknown

Known

Known

Known

CHI^2 Test where K= # of bins, g is unknown histogram and h is the known histogram

Each shape has 128 points, creates a 128x128 cost matrix

42

Preliminary Results – Distance Between Shape Contexts

• What is the best fit (minimum cost) to align all the points?

• The Assignment Problem – Hungarian Method for bi-partite matching problem

We will be working with the following problem: assign n = 9 candidates to n=9 jobs to minimize the total salary cost paid by the department. The individual salaries of each candidate at each job position depend on their qualification and are given by the cost matrix (in $ per hour):

Sam

Jill John Liz Ann Lois Pete Alex Herb

Administrator 20 15 10 10 17 23 25 5 15

Secretary to the Chair 10 10 12 15 9 7 8 7 8

Undergraduate Secretary 12 9 9 10 10 5 7 13 9

Graduate Secretary 13 14 10 15 15 5 8 20 10

Financial Clerk 12 13 10 15 14 5 9 20 10

Secretary 15 14 15 16 15 5 10 20 10

Web designer 7 9 12 12 7 6 7 15 12

Receptionist 5 6 8 8 5 4 5 10 7

Typist 5 6 8 8 5 4 5 10 7

If we start with the position of Administrator and assign it to Alex (he gets the minimal salary for this position), then we assign the position of Secretary to Chair to Lois (he gets the minimal salary for this position), and so on, up to the position of Typist, then the assignment is given by the assignment matrix:

43

Preliminary Results

• Experimental Setup – Run 5 test cars against known database of 50 cars

• Test cars re-segmented form known database

• Plot out matches based on Euclidean Distance

• Repeat by adding more cars of a different manufacturer to known DB

44

Preliminary Results

Unknown: 2003FordMustang2DGT

0

50

100

150

200

250

300

2002FordMustang2D

GT

2004FordMustang2D

2000FordMustang2D

GT

2003FordMustang2D

GT

2005FordMustangC

oupe2DV

6Deluxe

2001FordFocus2DZX

32000FordFocus2D

ZX3

2003FordFocus2DZX

32004FordFoucs2D

ZX3

2002FordFocus2DZX

32005FordFocusZX

32D2003FordFocusZX

32000FordE

scort4DS

edan2001FordM

ustang2DG

T2002FordFocus4D

ZX5

2004FordFocus4Dw

ag2001FordFocus4dw

ag2003FordFoucs4D

wag

2000FordFocus4Dw

ag2003FordFocus4D

ZX5

2004FordFocus4DS

VT

2004FordFocus4DZTS

2004FordTaurus4DS

E2002FordFocus4D

SE

2004FordFocus4DZX

52002FordFocus4D

wag

2002FordEscort4D

Sedan

2002FordTaurus4DS

ES

2005FordFocusZX54D

2004FordFocus4DZTW

2001FordEscort4D

Sedan

2005FordFiveHundred4D

SE

2001FordTaurus4DS

ES

2005FordTaurusSE

4D2000FordTaurus4D

SE

2001FordFocus4DS

E2005FordC

rownV

ictoria4D2001FordFocus4D

LX2000FordFocus4D

LX2002FordFocus4D

ZTS2004FordC

rownV

ictoria4DLX

2002FordCrow

nVictoria4D

2003FordTaurus4dSE

S2000FordC

ontour4D2001FordC

rownV


ZTS2003FordC

rownV

ictoria4D2004FordC

rownV

ictoriaSedan4D

2000FordCrow

nVictoria4D

2003FordFocus4DS

E

Series1

45

Preliminary Results

Unknown: 2003FordMustang2DGT-Volvos Added to Known DB

0

50

100

150

200

250

300

2002FordMustang2D

GT

2004FordMustang2D

2000FordMustang2D

GT

2003FordMustang2D

GT

2005FordMustangC

oupe2DV

6Deluxe

2001FordFocus2DZX

32000FordFocus2D

ZX3

2003FordFocus2DZX

32004FordFoucs2D

ZX3

2002FordFocus2DZX

32005FordFocusZX

32D2003FordFocusZX

32004V

olvoS404D

2000FordEscort4D

Sedan

2001FordMustang2D

GT

2002FordFocus4DZX

52004FordFocus4D

wag

2001FordFocus4dwag

2003FordFoucs4Dw

ag2003V

olvoS604D

2005VolvoS

604D2000FordFocus4D

wag

2002VolvoS

604D2001V

olvoS604D

2003FordFocus4DZX

52004FordFocus4D

SV

T2005V

olvoS404D

2004FordFocus4DZTS

2004FordTaurus4DS

E2002FordFocus4D

SE

2004FordFocus4DZX

52004V

olvoS604D

2002FordFocus4Dw

ag2002FordE

scort4DS

edan2002FordTaurus4D

SE

S2005FordFocusZX

54D2004FordFocus4D

ZTW2001FordE

scort4DS

edan2005FordFiveH

undred4DS

E2000V

olvoS404D

2001FordTaurus4DS

ES

2005FordTaurusSE

4D2000FordTaurus4D

SE

2004VolvoS

804D2001V

olvoS804D

2000VolvoS

804D2001FordFocus4D

SE

2001VolvoS

404D2002V

olvoS804D

2003VolvoS

404D2005FordC

rownV


LX2005V

olvoS804D

2000FordFocus4DLX

2002FordFocus4DZTS

2004FordCrow

nVictoria4D

LX2002FordC

rownV

ictoria4D2003FordTaurus4dS

ES

2000FordContour4D

2001FordCrow

nVictoria4D

2003FordFocus4DZTS

2003FordCrow

nVictoria4D

2003VolvoS

804D2000V

olvoS704D

2004FordCrow

nVictoriaS

edan4D2000FordC

rownV


SE

Series1

46

Preliminary Results

Unknown: 2004FordFocus4DZX5.dh1

0

50

100

150

200

250

300

2004FordFocus4DZX

52003FordFocus4D

ZX5

2004FordFocus4DS

VT

2000FordFocus4DLX

2001FordFocus4dwag

2004FordFocus4Dw

ag2002FordFocus4D

wag

2003FordFoucs4Dw

ag2004FordFocus4D

ZTW2000FordFocus4D

wag

2001FordFocus4DS

E2004FordTaurus4D

SE

2001FordFocus4DLX

2002FordFocus4DS

E2002FordTaurus4D

SE

S2002FordFocus4D

ZTS2001FordTaurus4D

SE

S2004FordFocus4D

ZTS2003FordFocus4D

SE

2005FordFocusZX54D

2003FordFocus4DZTS

2001FordEscort4D

Sedan


SE

2003FordTaurus4dSE

S2000FordTaurus4D

SE

2002FordEscort4D

Sedan

2000FordContour4D

2005FordTaurusSE

4D2004FordC

rownV

ictoria4DLX

2002FordCrow

nVictoria4D

2000FordCrow

nVictoria4D

2001FordCrow

nVictoria4D

2003FordCrow

nVictoria4D

2005FordCrow

nVictoria4D

2004FordCrow

nVictoriaS

edan4D2002FordFocus4D

ZX5

2000FordEscort4D

Sedan

2000FordFocus2DZX

32003FordFocus2D

ZX3

2001FordMustang2D

GT

2004FordFoucs2DZX

32002FordFocus2D

ZX3

2003FordMustang2D

GT

2001FordFocus2DZX

32000FordM

ustang2DG

T2002FordM

ustang2DG

T2005FordFocusZX

32D2004FordM

ustang2D2005FordM

ustangCoupe2D

V6D

eluxe2003FordFocusZX

3

Series1

47

Preliminary Results

Unknown: 2004FordFocus4DZX5.dh1-Volvos Added to Known DB

0

50

100

150

200

250

300

2004FordFocus4DZX

52003FordFocus4D

ZX5

2004FordFocus4DS

VT

2000FordFocus4DLX

2001FordFocus4dwag

2004FordFocus4Dw

ag2002FordFocus4D

wag

2003FordFoucs4Dw

ag2005V

olvoS404D

2004FordFocus4DZTW

2000FordFocus4Dw

ag2001FordFocus4D

SE

2004FordTaurus4DS

E2001FordFocus4D

LX2002FordFocus4D

SE

2002FordTaurus4DS

ES

2003VolvoS

404D2002FordFocus4D

ZTS2001FordTaurus4D

SE

S2004FordFocus4D

ZTS2000V

olvoS404D

2004VolvoS

804D2005V

olvoS604D

2003FordFocus4DS

E2002V

olvoS804D

2005FordFocusZX54D

2003FordFocus4DZTS

2001FordEscort4D

Sedan


SE

2003FordTaurus4dSE

S2000FordTaurus4D

SE

2001VolvoS

604D2001V

olvoS404D

2005VolvoS

804D2004V

olvoS604D

2001VolvoS

804D2000V

olvoS804D

2002VolvoS

604D2002FordE

scort4DS

edan2000FordC

ontour4D2000V

olvoS704D

2005FordTaurusSE

4D2003V

olvoS804D

2004FordCrow

nVictoria4D

LX2003V

olvoS604D

2002FordCrow

nVictoria4D

2000FordCrow

nVictoria4D

2001FordCrow

nVictoria4D

2003FordCrow

nVictoria4D

2005FordCrow

nVictoria4D

2004FordCrow

nVictoriaS

edan4D2002FordFocus4D

ZX5

2000FordEscort4D

Sedan

2004VolvoS

404D2000FordFocus2D

ZX3

2003FordFocus2DZX

32001FordM

ustang2DG

T2004FordFoucs2D

ZX3

2002FordFocus2DZX

32003FordM

ustang2DG

T2001FordFocus2D

ZX3

2000FordMustang2D

GT

2002FordMustang2D

GT

2005FordFocusZX32D

2004FordMustang2D

2005FordMustangC

oupe2DV

6D2003FordFocusZX

3

Series1

48

Preliminary ResultsUnknown: 2004FordTaurus4DSES.dh1

0

50

100

150

200

250

300

2002FordTaurus4DS

ES

2004FordTaurus4DS

E2005FordTaurusS

E4D

2001FordTaurus4DS

ES

2000FordTaurus4DS

E2003FordTaurus4dS

ES

2001FordFocus4DS

E2000FordFocus4D

LX2001FordFocus4D

LX2002FordFocus4D

ZTS2003FordFocus4D

ZTS2004FordFocus4D

wag

2003FordFocus4DS

E2004FordFocus4D

ZX5

2003FordFocus4DZX

52005FordFiveH

undred4DS

E2002FordFocus4D

SE

2004FordFocus4DS

VT

2000FordContour4D

2004FordFocus4DZTS

2002FordEscort4D

Sedan

2000FordFocus4Dw

ag2005FordFocusZX

54D2001FordE

scort4DS

edan2001FordFocus4dw

ag2002FordFocus4D

wag

2004FordCrow

nVictoria4D

LX2002FordC

rownV

ictoria4D2005FordC

rownV

ictoria4D2000FordC

rownV

ictoria4D2001FordC

rownV

ictoria4D2003FordFoucs4D

wag

2003FordCrow

nVictoria4D

2004FordFocus4DZTW

2004FordCrow

nVictoriaS

edan4D2000FordE

scort4DS

edan2002FordFocus4D

ZX5

2001FordMustang2D

GT

2000FordFocus2DZX

32003FordFocus2D

ZX3

2002FordFocus2DZX

32001FordFocus2D

ZX3

2004FordFoucs2DZX

32000FordM

ustang2DG

T2003FordM

ustang2DG

T2004FordM

ustang2D2002FordM

ustang2DG

T2005FordM

ustangCoupe2D

V6D


32D2003FordFocusZX

3

Series1

49

Preliminary ResultsUnknown: 2004FordTaurus4DSES.dh1-Volvos Added to Known DB

0

50

100

150

200

250

300

2002FordTaurus4DS

ES

2004FordTaurus4DS

E2005FordTaurusS

E4D

2001FordTaurus4DS

ES

2004VolvoS

804D2000FordTaurus4D

SE

2003VolvoS

404D2000V

olvoS404D

2003FordTaurus4dSE

S2005V

olvoS404D

2005VolvoS

804D2001V

olvoS404D

2002VolvoS

804D2001V

olvoS804D

2001FordFocus4DS

E2000V

olvoS804D

2003VolvoS

804D2000FordFocus4D

LX2001FordFocus4D

LX2002FordFocus4D

ZTS2003FordFocus4D

ZTS2004FordFocus4D

wag

2005VolvoS

604D2003FordFocus4D

SE

2004FordFocus4DZX

52003FordFocus4D

ZX5


SE

2004VolvoS

604D2001V

olvoS604D

2002FordFocus4DS

E2002V

olvoS604D

2004FordFocus4DS

VT

2003VolvoS

604D2000FordC

ontour4D2000V

olvoS704D

2004FordFocus4DZTS

2002FordEscort4D

Sedan

2000FordFocus4Dw

ag2005FordFocusZX

54D2001FordE

scort4DS

edan2001FordFocus4dw

ag2002FordFocus4D

wag

2004FordCrow

nVictoria4D

LX2002FordC

rownV

ictoria4D2005FordC

rownV

ictoria4D2000FordC

rownV

ictoria4D2001FordC

rownV

ictoria4D2003FordFoucs4D

wag

2003FordCrow

nVictoria4D

2004FordFocus4DZTW

2004FordCrow

nVictoriaS

edan4D2000FordE

scort4DS

edan2002FordFocus4D

ZX5

2004VolvoS

404D2001FordM

ustang2DG

T2000FordFocus2D

ZX3

2003FordFocus2DZX

32002FordFocus2D

ZX3

2001FordFocus2DZX

32004FordFoucs2D

ZX3

2000FordMustang2D

GT

2003FordMustang2D

GT

2004FordMustang2D

2002FordMustang2D

GT

2005FordMustangC

oupe2DV

6Deluxe

2005FordFocusZX32D

2003FordFocusZX3

Series1

50

Preliminary ResultsUnknown: 2005FordMustangCoupe2DV6Deluxe.dh1

0

50

100

150

200

250

300

2005FordMustangC

oupe2DV

6Deluxe

2004FordMustang2D

2003FordFocusZX3

2005FordFocusZX32D

2001FordFocus2DZX

32004FordFoucs2D

ZX3

2002FordMustang2D

GT

2000FordFocus2DZX

32003FordFocus2D

ZX3

2002FordFocus2DZX

32000FordM

ustang2DG

T2003FordM

ustang2DG

T2000FordE

scort4DS

edan2002FordFocus4D

ZX5

2001FordMustang2D

GT

2005FordFocusZX54D


SE

2004FordFocus4Dw

ag2005FordTaurusS

E4D

2000FordFocus4Dw

ag2001FordFocus4dw

ag2004FordTaurus4D

SE

2003FordFocus4DZX

52003FordFoucs4D

wag

2002FordTaurus4DS

ES

2002FordFocus4Dw

ag2004FordFocus4D

ZX5

2002FordFocus4DS

E2004FordFocus4D

SV

T2003FordTaurus4dS

ES

2004FordFocus4DZTS

2004FordFocus4DZTW

2001FordTaurus4DS

ES

2001FordFocus4DS

E2002FordE

scort4DS

edan2000FordTaurus4D

SE

2003FordFocus4DZTS

2000FordFocus4DLX

2001FordFocus4DLX

2001FordEscort4D

Sedan

2005FordCrow

nVictoria4D

2000FordContour4D

2002FordFocus4DZTS

2004FordCrow

nVictoria4D

LX2001FordC

rownV


SE

2004FordCrow

nVictoriaS

edan4D2002FordC

rownV

ictoria4D2003FordC

rownV

ictoria4D2000FordC

rownV

ictoria4D

Series1

51

Preliminary ResultsUnknown: 2005FordMustangCoupe2DV6Deluxe.dh1-Volvos Added to Known DB

0

50

100

150

200

250

300

2005FordMustangC

oupe2DV

6Deluxe

2004FordMustang2D

2003FordFocusZX3

2005FordFocusZX32D

2001FordFocus2DZX

32004FordFoucs2D

ZX3

2002FordMustang2D

GT

2000FordFocus2DZX

32003FordFocus2D

ZX3

2002FordFocus2DZX

32000FordM

ustang2DG

T2003FordM

ustang2DG

T2004V

olvoS404D

2000FordEscort4D

Sedan

2002FordFocus4DZX

52001FordM

ustang2DG

T2005FordFocusZX

54D2005FordFiveH

undred4DS

E2004FordFocus4D

wag

2005VolvoS

404D2005FordTaurusS

E4D

2002VolvoS

604D2000FordFocus4D

wag

2001FordFocus4dwag

2005VolvoS

604D2003V

olvoS604D

2004VolvoS


SE

2003FordFocus4DZX

52003FordFoucs4D

wag

2002FordTaurus4DS

ES

2004VolvoS

804D2001V

olvoS604D

2002FordFocus4Dw

ag2004FordFocus4D

ZX5

2002FordFocus4DS

E2004FordFocus4D

SV

T2003FordTaurus4dS

ES

2004FordFocus4DZTS

2004FordFocus4DZTW

2001FordTaurus4DS

ES

2005VolvoS

804D2002V

olvoS804D

2001FordFocus4DS

E2000V

olvoS804D

2002FordEscort4D

Sedan

2000FordTaurus4DS

E2003FordFocus4D

ZTS2000V

olvoS404D

2000FordFocus4DLX

2001FordFocus4DLX

2001VolvoS

804D2001FordE

scort4DS

edan2003V

olvoS404D

2003VolvoS

804D2005FordC

rownV

ictoria4D2000FordC

ontour4D2002FordFocus4D

ZTS2001V

olvoS404D

2004FordCrow

nVictoria4D

LX2001FordC

rownV

ictoria4D2000V

olvoS704D

2003FordFocus4DS

E2004FordC

rownV

ictoriaSedan4D

2002FordCrow

nVictoria4D

2003FordCrow

nVictoria4D

2000FordCrow

nVictoria4D

Series1

52

Preliminary ResultsUnknown: 2005FordTaurusSE4D.ws2

0

50

100

150

200

250

300

2005FordTaurusSE

4D2002FordTaurus4D

SE

S2004FordTaurus4D

SE

2000FordTaurus4DS

E2003FordTaurus4dS

ES

2001FordTaurus4DS

ES

2000FordFocus4DLX

2001FordFocus4DS

E2005FordFocusZX

54D2003FordFocus4D

SE


SE

2003FordFocus4DZTS

2002FordFocus4DZTS

2001FordFocus4DLX

2004FordFocus4Dw

ag2004FordFocus4D

ZX5

2002FordFocus4DS

E2005FordC

rownV


ZX5

2004FordFocus4DS

VT

2000FordContour4D

2002FordEscort4D

Sedan

2004FordFocus4DZTS

2004FordCrow

nVictoriaS

edan4D2001FordFocus4dw

ag2001FordE

scort4DS

edan2000FordFocus4D

wag

2000FordCrow

nVictoria4D

2002FordFocus4Dw

ag2004FordC

rownV

ictoria4DLX

2002FordCrow

nVictoria4D

2003FordCrow

nVictoria4D

2003FordFoucs4Dw

ag2001FordC

rownV


ZTW2000FordE

scort4DS

edan2002FordFocus4D

ZX5

2001FordMustang2D

GT

2004FordMustang2D

2000FordMustang2D

GT

2003FordMustang2D

GT

2000FordFocus2DZX

32002FordM

ustang2DG

T2003FordFocus2D

ZX3

2001FordFocus2DZX

32002FordFocus2D

ZX3

2004FordFoucs2DZX

32005FordM

ustangCoupe2D

V6D


32D2003FordFocusZX

3

Series1

53

Preliminary ResultsUnknown: 2005FordTaurusSE4D.ws2-Vovlos Added to Known DB

0

50

100

150

200

250

300

2005FordTaurusSE

4D2002FordTaurus4D

SE

S2004V

olvoS804D

2004FordTaurus4DS

E2000FordTaurus4D

SE

2003FordTaurus4dSE

S2005V

olvoS804D

2002VolvoS


SE

S2003V

olvoS804D

2003VolvoS

404D2001V

olvoS804D

2005VolvoS

404D2001V

olvoS404D

2000VolvoS

804D2000V

olvoS404D

2000FordFocus4DLX

2001FordFocus4DS

E2005FordFocusZX

54D2003FordFocus4D

SE


SE

2003VolvoS

604D2003FordFocus4D

ZTS2002FordFocus4D

ZTS2001FordFocus4D

LX2002V

olvoS604D

2004VolvoS

604D2004FordFocus4D

wag

2005VolvoS

604D2004FordFocus4D

ZX5

2002FordFocus4DS

E2005FordC

rownV


ZX5

2004FordFocus4DS

VT

2000FordContour4D

2002FordEscort4D

Sedan

2001VolvoS

604D2000V

olvoS704D

2004FordFocus4DZTS

2004FordCrow

nVictoriaS

edan4D2001FordFocus4dw

ag2001FordE

scort4DS

edan2000FordFocus4D

wag

2000FordCrow

nVictoria4D

2002FordFocus4Dw

ag2004FordC

rownV

ictoria4DLX

2002FordCrow

nVictoria4D

2003FordCrow

nVictoria4D

2003FordFoucs4Dw

ag2001FordC

rownV


ZTW2000FordE

scort4DS

edan2002FordFocus4D

ZX5

2004VolvoS

404D2001FordM

ustang2DG

T2004FordM

ustang2D2000FordM

ustang2DG

T2003FordM

ustang2DG

T2000FordFocus2D

ZX3

2002FordMustang2D

GT

2003FordFocus2DZX

32001FordFocus2D

ZX3

2002FordFocus2DZX

32004FordFoucs2D

ZX3

2005FordMustangC

oupe2DV

6Deluxe

2005FordFocusZX32D

2003FordFocusZX3

Series1

54

Known vs Known (as of Nov 12th)

2005FordCrow

nVictoria4D


SE

2005FordFocusZX32D

2005FordFocusZX54D

2005FordMustangC

oupe2DV6D

eluxe

2005FordTaurusSE4D

2004FordCrow

nVictoria4D

LX

2004FordCrow

nVictoriaS

edan4D

2004FordFocus4DSVT

2004FordFocus4DZTS

2004FordFocus4DZTW

2004FordFocus4DZX

5

2004FordFocus4Dw

ag

2004FordFoucs2DZX

3

2004FordMustang2D

2004FordTaurus4DSE

2003FordCrow

nVictoria4D

2003FordFocus2DZX

3

2003FordFocus4DSE

2003FordFocus4DZTS

2003FordFocus4DZX

5

2003FordFocusZX3

2003FordFoucs4Dw

ag

2003FordMustang2D

GT

2003FordTaurus4dSES

2002FordCrow

nVictoria4D

2002FordEscort4D

Sedan

2002FordFocus2D

ZX3

2002FordFocus4DSE

2002FordFocus4DZTS

2002FordFocus4DZX

5

2002FordFocus4Dw

ag

2002FordMustang2D

GT

2002FordTaurus4DSES

2001FordCrow

nVictoria4D

2001FordEscort4D

Sedan

2001FordFocus2DZX

3

2001FordFocus4DLX

2001FordFocus4DSE

2001FordFocus4dwag

2001FordMustang2D

GT

2001FordTaurus4DSES

2000FordContour4D

2000FordCrow

nVictoria4D

2000FordEscort4D

Sedan

2000FordFocus2DZX

3

2000FordFocus4DLX

2000FordFocus4Dw

ag

2000FordMustang2D

GT

2000FordTaurus4DSE

2005VolvoS

404D

2005VolvoS

604D

2005VolvoS

804D

2004VolvoS

404D

2004VolvoS

604D

2004VolvoS

804D

2003VolvoS

404D

2003VolvoS

604D

2003VolvoS

804D

2002VolvoS

604D

2002VolvoS

804D

2001VolvoS

404D

2001VolvoS

604D

2001VolvoS

804D

2000VolvoS

404D

2000VolvoS

704D

2000VolvoS

804D

2005FordCrownVictoria4D 0 141.692 263.898 144.88 262.195 135.582 98.507 110.21 129.717 120.04 147.145 137.749 139.138 259.347 257.127 137.265 105.532 258.794 148.632 130.956 148.084 267.088 138.376 254.185 135.555 103.196 116.005 6 120.559 123.436 198.039 145.92 252.749 138.034 105.877 113.581 259.965 120.67 127.405 135.917 240.4 132.677 119.868 108.19 198.794 257.432 143.151 141.484 253.256 140.154 139.568 114.853 131.257 203.158 109.743 132.665 134.759 108.281 137.478 115.765 119.794 134.19 110.315 132.043 134.073 116.462 137.533

2005FordFiveHundred4DSE 141.692 0 247.557 120.288 247.829 118.935 147.246 150.339 131.365 132.461 134.025 124.156 116.893 245.96 249.718 121.892 152.196 246.205 128.734 130.778 117.238 251.891 130.888 250.633 126.965 145.769 137.942 245.807 125.648 132.637 185.814 126.825 253.154 120.629 145.624 142.068 246.122 127.234 123.25 127.681 242.134 127.827 143.909 151.257 183.724 245.094 122.758 123.437 251.446 125.609 108.818 131.146 122.848 194.59 136.232 121.666 122.998 135.307 135.795 137.754 126.436 137.555 132.187 130.283 131.215 143.599 125.878

2005FordFocusZX32D 263.898 247.557 0 248.132 93.01 254.588 263.499 269.735 251.936 253.735 251.215 249.346 244.634 78.641 112.063 253.587 266.302 82.394 261.152 255.43 248.067 73.236 248.652 109.297 257.07 266.257 259.742 84.33 253.573 257.362 193.622 249.754 115.616 253.084 265.211 257.541 78.302 255.575 254.452 246.147 213.063 256.933 259.37 268.258 191.44 83.879 255.371 245.595 113.757 259.223 249.19 251.332 260.64 190.601 253.497 256.946 259.452 254.441 262.649 254.006 259.622 263.666 256.627 264.453 258.266 264.866 260.986

2005FordFocusZX54D 144.88 120.288 248.132 0 246.951 121.102 152.782 150.697 125.111 140.311 140.143 124.501 123.531 247.138 247.175 126.634 159.273 247.388 145.601 138.073 126.115 250.562 134.839 249.126 131.378 154.208 146.017 248.359 136.145 138.6 190.509 133.968 249.333 125.365 155.231 146.427 247.309 132.305 130.321 130.337 244.379 131.685 147.359 156.218 190.196 247.424 127.199 130.664 249.261 137.202 115.675 131.953 136.571 197.758 134.602 129.588 135.124 135.967 144.006 131.602 129.777 143.532 137.607 143.188 133.489 149.439 139.069

2005FordMustangCoupe2DV6Deluxe 262.195 247.829 93.01 246.951 0 251.392 263.617 267.02 255.631 256.916 256.665 254.607 248.392 98.057 87.886 253.395 266.657 101.606 264.743 258.337 252.98 89.901 253.409 108.027 256.423 265.434 257.911 102.878 256.645 260.929 200.62 254.776 100.9 253.797 264.963 260.258 96.807 259.787 258.593 251.382 208.178 256.64 261.516 268.379 195.696 101.739 259.978 251.436 105.029 258.295 249.251 251.525 258.306 191.282 253.439 256.318 261.371 251.386 260.925 250.662 258.429 262.547 255.121 261.362 259.834 265.884 258.365

2005FordTaurusSE4D 135.582 118.935 254.588 121.102 251.392 0 145.113 140.889 133.758 137.676 148.755 131.19 125.626 253.25 247.506 99.249 146.715 252.671 128.868 129.207 130.211 256.844 148.216 254.113 103.991 145.884 137.572 253.806 133.528 129.964 197.209 142.713 252.308 97.699 148.372 143.145 252.716 128.922 122.685 141.597 235.636 104.243 135.778 145.585 194.889 252.684 126.283 141.212 252.644 98.512 105.521 131.138 107.819 193.55 129.768 101.555 108.446 129.381 117.179 127.275 112.737 109.823 133.779 112.22 105.623 138.436 114.913

2004FordCrownVictoria4DLX 98.507 147.246 263.499 152.782 263.617 145.113 0 121.901 123.083 113.84 137.725 130.625 136.456 257.028 259.374 133.915 93.225 256.361 145.553 134.826 137.747 268.762 129.403 251.303 140.199 90.333 118.731 255.283 119.804 120.872 192.82 136.715 252.106 138.6 84.64 107.663 257.636 119.559 127.214 130.112 240.249 135.858 114.574 97.768 191.989 254.6 137.179 132.208 251.053 140.734 138.868 112.934 135.753 205.675 115.864 136.978 129.094 114.761 143.779 116.341 124.57 131.254 111.632 137.999 131.724 110.593 143.755

2004FordCrownVictoriaSedan4D 110.21 150.339 269.735 150.697 267.02 140.889 121.901 0 149.414 139.801 162.751 156.079 155.768 267.539 262.564 146.022 125.06 267.555 155.109 151.269 161.967 271.133 158.842 259.786 141.583 119.773 134.36 266.377 138.053 144.701 209.924 159.707 259.623 146.157 113.85 130.771 267.705 141.16 147.638 154.045 242.75 147.186 129.59 124.76 207.868 266.396 155.647 158.87 259.184 148.023 148.277 132.239 139.967 215.788 130.05 143.441 142.877 131.203 143.962 129.589 130.835 141.008 125.729 141.344 142.322 129.603 144.485

2004FordFocus4DSVT 129.717 131.365 251.936 125.111 255.631 133.758 123.083 149.414 0 99.741 110.743 77.995 97.999 242.661 252.077 112.391 128.507 240.455 132.698 112.99 91.639 259.105 94.085 243.888 126.55 126.034 120.282 241.636 101.793 100.442 174.657 108.293 245.627 119.134 129.055 116.7 243.047 101.628 104.283 95.88 240.31 115.166 120.55 128.715 180.972 241.004 111.331 105.089 246.419 125.431 117.111 107.195 127.206 186.813 115.397 121.793 122.418 118.334 138.412 118.825 117.285 128.343 115.016 129.514 122.008 120.475 134.051

2004FordFocus4DZTS 120.04 132.461 253.735 140.311 256.916 137.676 113.84 139.801 99.741 0 118.076 107.954 108.058 246.546 252.733 126.31 115.805 244.623 127.31 105.788 112.225 260.509 102.645 245.835 129.347 114.536 102.844 245.557 77.909 95.894 181.019 115.939 247.53 128.873 113.573 97.169 246.712 95.621 94.961 103.329 237.54 121.504 111.106 117.899 184.37 244.276 122.948 110.827 248.774 133.33 131.297 105.576 122.855 193.982 107.655 122.669 124.086 106.241 133.004 121.398 114.291 123.283 108.771 126.692 123.792 110.508 129.795

2004FordFocus4DZTW 147.145 134.025 251.215 140.143 256.665 148.755 137.725 162.751 110.743 118.076 0 94.552 97.754 240.7 252.309 129.68 145.03 240.877 122.998 130.711 104.552 259.367 96.471 242.243 142.51 137.1 138.17 241.458 114.632 122.939 169.054 75.821 248.699 132.338 139.653 119.945 241.332 120.458 120.84 87.464 241.778 134.642 134.062 135.975 172.988 240.628 113.477 93.244 243.462 140.309 125.731 123.934 145.44 198.754 134.06 136.79 126.276 142.173 150.106 136.539 133.772 142.092 134.012 147.548 134.135 137.509 147.934

2004FordFocus4DZX5 137.749 124.156 249.346 124.501 254.607 131.19 130.625 156.079 77.995 107.954 94.552 0 90.182 238.92 250.919 113.268 136.622 237.795 121.424 112.546 83.914 257.363 98.935 242.393 125.311 130.758 127.109 239.087 103.044 101.02 167.822 90.601 248.03 113.198 134.618 117.532 239.31 97.877 98.903 89.081 238.597 114.482 122.641 131.222 174.157 238.155 106.176 96.834 245.101 123.336 108.94 110.488 128.956 184.521 119.575 122.493 118.477 128.289 138.319 122.878 115.76 128.863 119.397 132.567 121.766 126.692 135.003

2004FordFocus4Dwag 139.138 116.893 244.634 123.531 248.392 125.626 136.456 155.768 97.999 108.058 97.754 90.182 0 237.736 243.518 110.464 142.235 235.282 125.91 116.776 90.094 252.033 93.433 241.877 125.52 139.241 128.061 238.047 103.852 113.555 168.013 88.533 242.277 112.643 139.877 127.119 237.961 109.601 105.584 82.491 238.716 115.44 131.506 141.375 172.956 236.182 113.563 86.289 242.791 120.928 109.932 110.964 125.418 185.707 120.062 118.034 118.608 125.032 134.287 121.705 124.786 130.423 120.302 129.092 118.129 134.876 126.309

2004FordFoucs2DZX3 259.347 245.96 78.641 247.138 98.057 253.25 257.028 267.539 242.661 246.546 240.7 238.92 237.736 0 107.814 247.102 259.534 57.552 251.969 248.072 238.857 103.202 239.56 90.982 250.724 258.874 253.347 59.413 246.468 248.983 180.816 240.213 105.535 246.477 258.571 248.699 54.542 248.279 247.511 237.559 205.247 250.068 252.011 260.733 180.198 57.029 246.362 237.721 98.423 253.55 242.512 243.536 255.001 182.543 247.47 250.389 252.75 248.957 256.576 248.365 253.584 257.016 249.648 258.01 252.189 258.149 255.34

2004FordMustang2D 257.127 249.718 112.063 247.175 87.886 247.506 259.374 262.564 252.077 252.733 252.309 250.919 243.518 107.814 0 248.528 261.427 107.97 261.238 256.33 248.858 112.941 249.802 94.387 255.569 260.998 254.083 110.627 252.282 257.252 196.382 250.831 78.079 250.236 260.689 256.082 107.539 256.185 254.727 246.852 198.905 252.358 257.427 263.675 191.438 107.726 256.634 247.195 84.27 252.555 245.697 248.713 254.834 184.347 250.063 252.463 255.853 248.194 257.205 246.729 254.148 255.872 251.846 255.888 252.962 261.667 254.67

2004FordTaurus4DSE 137.265 121.892 253.587 126.634 253.395 99.249 133.915 146.022 112.391 126.31 129.68 113.268 110.464 247.102 248.528 0 138.838 245.631 117.87 122.512 115.737 259.631 128.666 244.88 96.503 134.775 130.136 245.89 122.402 118.082 183.582 123.233 245.851 74.022 136.062 127.837 247.457 117.737 114.624 121.02 232.034 89.636 126.552 135.496 182.664 246.048 102.355 124.723 244.965 91.873 92.815 113.907 103.039 188.226 121.717 95.405 89.416 125.749 109.328 119.084 105.744 102.362 120.878 105.103 90.023 129.656 107.246

2003FordCrownVictoria4D 105.532 152.196 266.302 159.273 266.657 146.715 93.225 125.06 128.507 115.805 145.03 136.622 142.235 259.534 261.427 138.838 0 258.576 145.377 122.066 142.232 270.424 137.447 253.72 134.327 97.096 108.289 258.902 122.582 115.731 198.128 143.025 254.476 142.768 98.61 109.502 260.054 120.782 127.366 137.549 240.75 129.982 112.834 101.005 196.759 257.442 141.245 141.152 254.069 137.231 143.699 123.538 137.649 206.591 123.098 139.664 130.383 119.556 144.085 126.832 126.922 127.681 121.997 135.858 131.34 108.974 143.059

2003FordFocus2DZX3 258.794 246.205 82.394 247.388 101.606 252.671 256.361 267.555 240.455 244.623 240.877 237.795 235.282 57.552 107.97 245.631 258.576 0 252.796 246.93 235.993 106.995 237.119 95.446 250.036 259.224 251.762 58.859 243.567 247.119 178.972 240.064 105.698 246.249 258.077 249.058 52.756 246.064 244.459 235.783 206.539 248.72 251.254 261.499 180.221 46.894 245.935 235.991 103.68 251.729 243.968 242.81 253.598 180.389 247.328 250.064 252.315 248.211 257.215 248.541 252.673 256.451 248.974 256.814 252.207 256.925 254.573

2003FordFocus4DSE 148.632 128.734 261.152 145.601 264.743 128.868 145.553 155.109 132.698 127.31 122.998 121.424 125.91 251.969 261.238 117.87 145.377 252.796 0 116.269 124.636 268.487 138.898 253.432 117.194 138.943 135.651 252.409 122.053 114.23 186.673 120.592 259.49 115.805 144.152 124.133 252.644 114.37 109.16 131.115 232.013 116.988 130.969 136.092 188.021 252.227 104.211 133.11 255.056 118.983 113.065 133.922 107.402 202.382 136.531 106.992 104.795 144.338 107.338 143.352 114.359 112.089 137.062 111.552 117.098 130.427 107.367

2003FordFocus4DZTS 130.956 130.778 255.43 138.073 258.337 129.207 134.826 151.269 112.99 105.788 130.711 112.546 116.776 248.072 256.33 122.512 122.066 246.93 116.269 0 118.391 262.22 122.131 250.701 110.082 132.005 111.298 248.886 105.311 82.862 186.241 127.662 254.099 125.475 135.766 117.415 248.256 88.679 86.645 118.279 234.763 105.397 120.305 132.323 188.368 246.989 117.185 122.952 252.82 124.483 119.475 119.262 110.377 191.99 119.854 111.167 120.119 120.128 123.244 128.932 108.278 116.975 122.697 117.643 119.875 114.45 117.258

2003FordFocus4DZX5 148.084 117.238 248.067 126.115 252.98 130.211 137.747 161.967 91.639 112.225 104.552 83.914 90.094 238.857 248.858 115.737 142.232 235.993 124.636 118.391 0 255.166 96.584 243.432 129.097 142.188 134.395 237.613 107.885 109.322 166.989 98.322 247.646 120.285 142.049 131.237 238.632 112.068 104.156 98.59 241.823 120.105 135.265 144.97 172.544 235.817 105.617 94.613 244.925 123.458 110.802 125.755 129.61 187.107 133.987 124.838 118.228 136.251 143.07 137.072 126.805 130.514 132.838 137.309 125.153 136.117 137.97

2003FordFocusZX3 267.088 251.891 73.236 250.562 89.901 256.844 268.762 271.133 259.105 260.509 259.367 257.363 252.033 103.202 112.941 259.631 270.424 106.995 268.487 262.22 255.166 0 256.169 121.63 261.48 271.354 263.741 107.298 261.017 264.954 203.953 257.669 121.911 259.845 270.812 264.925 100.894 263.728 262.256 254.828 217.518 262.118 266.008 273.591 201.343 108.503 263.674 254.137 122.205 263.481 254.774 258.431 265.075 198.481 259.392 263.196 265.924 257.82 267.242 258.16 264.21 267.976 262.383 268.768 264.962 269.766 265.497

2003FordFoucs4Dwag 138.376 130.888 248.652 134.839 253.409 148.216 129.403 158.842 94.085 102.645 96.471 98.935 93.433 239.56 249.802 128.666 137.447 237.119 138.898 122.131 96.584 256.169 0 240.197 143.387 137.773 129.653 239.085 107.077 114.336 167.608 95.357 242.886 134.861 134.481 125.304 239.646 115.26 113.026 76.544 244.149 132.632 138.271 140.382 175.969 236.993 116.789 78.318 242.719 140.966 131.535 120.786 141.959 195.943 130.056 134.866 130.783 130.351 150.47 132.326 133.727 142.515 128.596 143.823 134.456 131.687 145.036

2003FordMustang2DGT 254.185 250.633 109.297 249.126 108.027 254.113 251.303 259.786 243.888 245.835 242.243 242.393 241.877 90.982 94.387 244.88 253.72 95.446 253.432 250.701 243.432 121.63 240.197 0 251.733 252.44 248.911 97.075 245.769 250.38 186.213 240.735 76.397 246.215 252.921 244.445 90.21 250.378 249.738 238.753 192.131 248.709 250.832 255.242 183.432 93.703 246.322 241.306 66.089 253.757 243.202 242.033 254.605 183.506 245.696 250.051 250.719 246.346 254.599 244.21 250.474 254.233 246.139 255.241 249.801 254.98 253.958

2003FordTaurus4dSES 135.555 126.965 257.07 131.378 256.423 103.991 140.199 141.583 126.55 129.347 142.51 125.311 125.52 250.724 255.569 96.503 134.327 250.036 117.194 110.082 129.097 261.48 143.387 251.733 0 135.686 125.918 250.398 123.098 116.097 192.835 137.297 254.313 95.41 139.858 131.083 250.296 113.234 114.666 134.097 234.207 93.343 121.974 137.536 191.959 249.844 118.348 139.581 252.819 100.392 103.697 120.486 102.798 196.55 121.669 98.952 102.934 126.967 108.729 125.527 107.067 105.984 122.138 102.782 104.451 123.734 106.26

2002FordCrownVictoria4D 103.196 145.769 266.257 154.208 265.434 145.884 90.333 119.773 126.034 114.536 137.1 130.758 139.241 258.874 260.998 134.775 97.096 259.224 138.943 132.005 142.188 271.354 137.773 252.44 135.686 0 111.496 257.419 115.344 117.255 196.54 136.187 254.31 135.883 83.807 100.162 259.528 115.325 125.043 133.018 240.574 134.082 103.647 82.868 193.003 257.716 137.408 139.531 253.125 138.951 136.726 114.526 132.605 206.244 115.352 134.356 127.896 113.985 138.632 118.607 120.104 128.801 107.319 133.012 131.101 103.019 138.149

2002FordEscort4DSedan 116.005 137.942 259.742 146.017 257.911 137.572 118.731 134.36 120.282 102.844 138.17 127.109 128.061 253.347 254.083 130.136 108.289 251.762 135.651 111.298 134.395 263.741 129.653 248.911 125.918 111.496 0 252.582 103.025 108.573 191.566 137.153 248.334 132.452 115.662 99.03 253.495 110.263 112.189 125.847 236.233 114.165 108.472 114.508 189.51 251.268 134.785 134.721 250.173 130.477 134.506 110.533 123.477 196.366 110.064 127.853 126.473 102.236 132.779 119.162 120.512 120.939 105.979 122.6 124.025 114.793 125.836

2002FordFocus2DZX3 258.637 245.807 84.33 248.359 102.878 253.806 255.283 266.377 241.636 245.557 241.458 239.087 238.047 59.413 110.627 245.89 258.902 58.859 252.409 248.886 237.613 107.298 239.085 97.075 250.398 257.419 252.582 0 244.644 248.455 180.92 239.709 109.738 246.022 256.186 248.108 63.39 247.308 246.81 237.591 208.367 250.063 251.167 260.2 179.686 55.927 246.183 237.501 104.865 252.938 244.345 243.724 253.856 183.192 248.881 250.34 252.677 249.98 257.229 248.827 251.881 256.571 249.343 257.576 253.513 256.581 255.608

2002FordFocus4DSE 120.559 125.648 253.573 136.145 256.645 133.528 119.804 138.053 101.793 77.909 114.632 103.044 103.852 246.468 252.282 122.402 122.582 243.567 122.053 105.311 107.885 261.017 107.077 245.769 123.098 115.344 103.025 244.644 0 97.054 178.602 111.666 248.206 123.039 116.305 95.798 246.078 92.372 90.468 100.245 236.68 117.929 103.994 119.62 181.983 242.748 116.499 109.92 248.623 130.37 124.29 99.166 116.552 190.097 104.018 115.648 118.918 111.041 130.936 116.547 111.58 120.149 103.65 121.282 119.237 112.539 125.377

2002FordFocus4DZTS 123.436 132.637 257.362 138.6 260.929 129.964 120.872 144.701 100.442 95.894 122.939 101.02 113.555 248.983 257.252 118.082 115.731 247.119 114.23 82.862 109.322 264.954 114.336 250.38 116.097 117.255 108.573 248.455 97.054 0 182.749 121.98 252.565 121.745 121.362 107.142 249.584 69.019 79.566 110.712 234.904 107.575 107.192 117.611 185.922 246.758 111.494 118.231 252.249 121.476 119.451 114.637 112.507 189.368 117.074 112.052 110.887 118.655 124.667 127.942 103.874 111.959 115.992 116.28 111.002 97.594 120.622

2002FordFocus4DZX5 198.039 185.814 193.622 190.509 200.62 197.209 192.82 209.924 174.657 181.019 169.054 167.822 168.013 180.816 196.382 183.582 198.128 178.972 186.673 186.241 166.989 203.953 167.608 186.213 192.835 196.54 191.566 180.92 178.602 182.749 0 167.569 193.28 185.406 195.87 185.257 180.887 180.802 178.444 167.249 260.893 188.247 190.578 196.504 71.019 178.257 176.196 164.587 188.225 191.263 180.523 182.978 194.814 239.203 189.491 189.964 185.965 192.712 197.806 190.977 190.303 194.555 189.539 196.753 190.915 194.904 196.225

2002FordFocus4Dwag 145.92 126.825 249.754 133.968 254.776 142.713 136.715 159.707 108.293 115.939 75.821 90.601 88.533 240.213 250.831 123.233 143.025 240.064 120.592 127.662 98.322 257.669 95.357 240.735 137.297 136.187 137.153 239.709 111.666 121.98 167.569 0 247.954 124.154 139.139 123.242 240.59 119.026 115.78 87.677 240.793 128.669 135.197 136.471 171.218 239.053 109.739 85.26 242.253 135.152 118.119 121.904 139.637 194.782 132.351 131.144 122.959 139.879 145.495 133.592 129.673 138.871 131.501 143.672 130.305 137.951 142.665

2002FordMustang2DGT 252.749 253.154 115.616 249.333 100.9 252.308 252.106 259.623 245.627 247.53 248.699 248.03 242.277 105.535 78.079 245.851 254.476 105.698 259.49 254.099 247.646 121.911 242.886 76.397 254.313 254.31 248.334 109.738 248.206 252.565 193.28 247.954 0 248.889 254.634 248.929 104.419 252.72 252.68 241.289 193.691 249.72 253.802 256.473 190.724 106.166 250.612 244.409 69.287 253.189 246.443 243.733 255.142 184.153 246.278 251.91 253.067 245.333 255.297 242.556 253.174 253.365 245.822 253.035 249.689 255.861 252.324

2002FordTaurus4DSES 138.034 120.629 253.084 125.365 253.797 97.699 138.6 146.157 119.134 128.873 132.338 113.198 112.643 246.477 250.236 74.022 142.768 246.249 115.805 125.475 120.285 259.845 134.861 246.215 95.41 135.883 132.452 246.022 123.039 121.745 185.406 124.154 248.889 0 139.078 128.81 247.562 119.405 115.554 126.239 232.557 89.132 126.919 137.464 184.418 246.107 106.054 128.888 246.602 91.051 91.142 114.043 105.337 190.167 121.677 93.925 92.803 127.973 107.368 121.513 106.057 106.766 122.006 107.218 93.127 133.284 106.224

2001FordCrownVictoria4D 105.877 145.624 265.211 155.231 264.963 148.372 84.64 113.85 129.055 113.573 139.653 134.618 139.877 258.571 260.689 136.062 98.61 258.077 144.152 135.766 142.049 270.812 134.481 252.921 139.858 83.807 115.662 256.186 116.305 121.362 195.87 139.139 254.634 139.078 0 102.576 259.533 119.407 129.368 133.164 242.06 137.251 110.545 96.022 193.412 256.365 138.942 137.892 253.937 142.61 141.857 112.264 132.12 208.651 112.539 137.891 132.095 114.937 141.479 116.232 125.959 133.367 104.641 135.882 133.748 109.717 139.14

2001FordEscort4DSedan 113.581 142.068 257.541 146.427 260.258 143.145 107.663 130.771 116.7 97.169 119.945 117.532 127.119 248.699 256.082 127.837 109.502 249.058 124.133 117.415 131.237 264.925 125.304 244.445 131.083 100.162 99.03 248.108 95.798 107.142 185.257 123.242 248.929 128.81 102.576 0 249.515 105.013 110.792 119.436 235.053 126.197 103.854 98.962 182.115 247.805 124.019 129.397 247.388 139.576 131.614 104.258 129.828 199.026 108.587 127.001 121.663 114.739 135.314 118.418 116.997 122.203 109.221 132.231 122.129 110.332 135.504

2001FordFocus2DZX3 259.965 246.122 78.302 247.309 96.807 252.716 257.636 267.705 243.047 246.712 241.332 239.31 237.961 54.542 107.539 247.457 260.054 52.756 252.644 248.256 238.632 100.894 239.646 90.21 250.296 259.528 253.495 63.39 246.078 249.584 180.887 240.59 104.419 247.562 259.533 249.515 0 248.686 247.067 237.736 204.352 250.353 252.932 261.755 181.245 57.034 247.419 238.534 99.486 253.805 243.069 243.966 255.109 182.603 248.388 250.838 253.632 249.401 257.57 248.692 253.255 257.352 249.419 258.131 253.553 258.856 255.604

2001FordFocus4DLX 120.67 127.234 255.575 132.305 259.787 128.922 119.559 141.16 101.628 95.621 120.458 97.877 109.601 248.279 256.185 117.737 120.782 246.064 114.37 88.679 112.068 263.728 115.26 250.378 113.234 115.325 110.263 247.308 92.372 69.019 180.802 119.026 252.72 119.405 119.407 105.013 248.686 0 77.55 105.867 235.369 110.645 105.268 116.02 184.765 246.021 110.292 112.526 251.893 123.575 116.239 108.121 110.878 187.99 109.903 110.46 111.564 115.595 124.222 121.597 100.92 116.534 107.594 116.593 113.492 94.796 119.683

2001FordFocus4DSE 127.405 123.25 254.452 130.321 258.593 122.685 127.214 147.638 104.283 94.961 120.84 98.903 105.584 247.511 254.727 114.624 127.366 244.459 109.16 86.645 104.156 262.256 113.026 249.738 114.666 125.043 112.189 246.81 90.468 79.566 178.444 115.78 252.68 115.554 129.368 110.792 247.067 77.55 0 108.385 234.22 107.418 111.678 124.72 183.439 243.971 106.247 111.193 251.422 122.401 114.85 112.993 105.279 185.822 116.077 103.16 107.738 120.131 122.894 127.112 99.203 109.856 118.1 115.777 111.56 108.182 117.015

2001FordFocus4dwag 135.917 127.681 246.147 130.337 251.382 141.597 130.112 154.045 95.88 103.329 87.464 89.081 82.491 237.559 246.852 121.02 137.549 235.783 131.115 118.279 98.59 254.828 76.544 238.753 134.097 133.018 125.847 237.591 100.245 110.712 167.249 87.677 241.289 126.239 133.164 119.436 237.736 105.867 108.385 0 238.386 127.523 128.096 135.502 173.241 235.974 111.007 78.287 240.587 135.172 121.806 111.201 136.724 190.63 119.777 128.858 122.811 126.397 143.074 123.451 127.675 136.112 119.567 137.268 124.632 127.514 138.174

2001FordMustang2DGT 240.4 242.134 213.063 244.379 208.178 235.636 240.249 242.75 240.31 237.54 241.778 238.597 238.716 205.247 198.905 232.034 240.75 206.539 232.013 234.763 241.823 217.518 244.149 192.131 234.207 240.574 236.233 208.367 236.68 234.904 260.893 240.793 193.691 232.557 242.06 235.053 204.352 235.369 234.22 238.386 0 232.776 236.574 241.497 258.675 206.637 238.143 242.778 189.266 234.247 231.323 231 231.851 170.452 231.617 230.781 231.12 233.919 227.408 231.965 232.071 230.468 234.143 230.627 228.986 239.67 229.169

2001FordTaurus4DSES 132.677 127.827 256.933 131.685 256.64 104.243 135.858 147.186 115.166 121.504 134.642 114.482 115.44 250.068 252.358 89.636 129.982 248.72 116.988 105.397 120.105 262.118 132.632 248.709 93.343 134.082 114.165 250.063 117.929 107.575 188.247 128.669 249.72 89.132 137.251 126.197 250.353 110.645 107.418 127.523 232.776 0 123.563 135.783 188.756 249.613 113.335 132.302 249.139 97.364 103.964 115.679 104.523 190.353 119.938 100.199 103.514 121.079 112.64 122.278 106.945 105.831 120.049 107.568 97.814 125.692 107.955

2000FordContour4D 119.868 143.909 259.37 147.359 261.516 135.778 114.574 129.59 120.55 111.106 134.062 122.641 131.506 252.011 257.427 126.552 112.834 251.254 130.969 120.305 135.265 266.008 138.271 250.832 121.974 103.647 108.472 251.167 103.994 107.192 190.578 135.197 253.802 126.919 110.545 103.854 252.932 105.268 111.678 128.096 236.574 123.563 0 99.813 186.979 249.531 130.974 136.207 252.103 130.148 131.859 110.124 124.426 199.419 109.456 126.141 118.123 113.63 132.8 119.451 113.496 115.694 108.958 125.54 118.774 96.067 131.047

2000FordCrownVictoria4D 108.19 151.257 268.258 156.218 268.379 145.585 97.768 124.76 128.715 117.899 135.975 131.222 141.375 260.733 263.675 135.496 101.005 261.499 136.092 132.323 144.97 273.591 140.382 255.242 137.536 82.868 114.508 260.2 119.62 117.611 196.504 136.471 256.473 137.464 96.022 98.962 261.755 116.02 124.72 135.502 241.497 135.783 99.813 0 193.879 259.611 134.943 141.951 254.495 141.315 137.779 121.206 133.038 207.095 119.637 134.189 125.766 123.025 137.26 125.286 118.442 127.171 117.125 135.952 129.829 98.664 140.75

2000FordEscort4DSedan 198.794 183.724 191.44 190.196 195.696 194.889 191.989 207.868 180.972 184.37 172.988 174.157 172.956 180.198 191.438 182.664 196.759 180.221 188.021 188.368 172.544 201.343 175.969 183.432 191.959 193.003 189.51 179.686 181.983 185.922 71.019 171.218 190.724 184.418 193.412 182.115 181.245 184.765 183.439 173.241 258.675 188.756 186.979 193.879 0 178.476 178.445 170.992 183.993 189.061 177.418 181.921 194.387 238.356 189.688 189.599 185.245 191.84 197.084 188.898 189.76 192.875 189.006 198.457 190.326 194.584 197.027

2000FordFocus2DZX3 257.432 245.094 83.879 247.424 101.739 252.684 254.6 266.396 241.004 244.276 240.628 238.155 236.182 57.029 107.726 246.048 257.442 46.894 252.227 246.989 235.817 108.503 236.993 93.703 249.844 257.716 251.268 55.927 242.748 246.758 178.257 239.053 106.166 246.107 256.365 247.805 57.034 246.021 243.971 235.974 206.637 249.613 249.531 259.611 178.476 0 245.073 235.402 100.842 251.927 243.361 243.412 253.148 179.958 247.667 249.246 250.433 248.496 257.117 248.8 252.162 254.656 249.228 256.38 251.267 255.413 255.031

2000FordFocus4DLX 143.151 122.758 255.371 127.199 259.978 126.283 137.179 155.647 111.331 122.948 113.477 106.176 113.563 246.362 256.634 102.355 141.245 245.935 104.211 117.185 105.617 263.674 116.789 246.322 118.348 137.408 134.785 246.183 116.499 111.494 176.196 109.739 250.612 106.054 138.942 124.019 247.419 110.292 106.247 111.007 238.143 113.335 130.974 134.943 178.445 245.073 0 112.063 247.805 117.293 100.362 125.257 113.261 194.734 133.788 103.647 98.488 140.064 121.394 133.557 112.535 120.468 132.634 119.88 113.676 128.28 116.374

2000FordFocus4Dwag 141.484 123.437 245.595 130.664 251.436 141.212 132.208 158.87 105.089 110.827 93.244 96.834 86.289 237.721 247.195 124.723 141.152 235.991 133.11 122.952 94.613 254.137 78.318 241.306 139.581 139.531 134.721 237.501 109.92 118.231 164.587 85.26 244.409 128.888 137.892 129.397 238.534 112.526 111.193 78.287 242.778 132.302 136.207 141.951 170.992 235.402 112.063 0 242.079 136.286 122.307 120.311 138.898 192.479 128.956 131.434 125.251 132.904 147.787 131.062 132.155 140.47 129.28 143.925 130.743 134.246 142.607

2000FordMustang2DGT 253.256 251.446 113.757 249.261 105.029 252.644 251.053 259.184 246.419 248.774 243.462 245.101 242.791 98.423 84.27 244.965 254.069 103.68 255.056 252.82 244.925 122.205 242.719 66.089 252.819 253.125 250.173 104.865 248.623 252.249 188.225 242.253 69.287 246.602 253.937 247.388 99.486 251.893 251.422 240.587 189.266 249.139 252.103 254.495 183.993 100.842 247.805 242.079 0 252.169 242.633 243.633 254.4 184.341 246.85 250.793 249.419 246.942 253.893 244.198 250.692 252.721 247.674 254.783 248.985 255.259 254.004

2000FordTaurus4DSE 140.154 125.609 259.223 137.202 258.295 98.512 140.734 148.023 125.431 133.33 140.309 123.336 120.928 253.55 252.555 91.873 137.231 251.729 118.983 124.483 123.458 263.481 140.966 253.757 100.392 138.951 130.477 252.938 130.37 121.476 191.263 135.152 253.189 91.051 142.61 139.576 253.805 123.575 122.401 135.172 234.247 97.364 130.148 141.315 189.061 251.927 117.293 136.286 252.169 0 104.08 129.495 107.695 194.873 132.676 108.033 94.601 128.672 113.436 133.519 116.028 102.522 130.485 103.889 98.732 133.625 108.042

2005VolvoS404D 139.568 108.818 249.19 115.675 249.251 105.521 138.868 148.277 117.111 131.297 125.731 108.94 109.932 242.512 245.697 92.815 143.699 243.968 113.065 119.475 110.802 254.774 131.535 243.202 103.697 136.726 134.506 244.345 124.29 119.451 180.523 118.119 246.443 91.142 141.857 131.614 243.069 116.239 114.85 121.806 231.323 103.964 131.859 137.779 177.418 243.361 100.362 122.307 242.633 104.08 0 116.226 106.179 184.308 119.896 96.214 99.626 128.844 113.35 118.659 103.222 115.26 121.207 113.541 105.686 134.521 110.738

2005VolvoS604D 114.853 131.146 251.332 131.953 251.525 131.138 112.934 132.239 107.195 105.576 123.934 110.488 110.964 243.536 248.713 113.907 123.538 242.81 133.922 119.262 125.755 258.431 120.786 242.033 120.486 114.526 110.533 243.724 99.166 114.637 182.978 121.904 243.733 114.043 112.264 104.258 243.966 108.121 112.993 111.201 231 115.679 110.124 121.206 181.921 243.412 125.257 120.311 243.633 129.495 116.226 0 122.051 189.171 79.567 114.388 123.776 94.869 128.594 78.957 113.487 126.7 77.431 124.645 119.611 123.043 125.786

2005VolvoS804D 131.257 122.848 260.64 136.571 258.306 107.819 135.753 139.967 127.206 122.855 145.44 128.956 125.418 255.001 254.834 103.039 137.649 253.598 107.402 110.377 129.61 265.075 141.959 254.605 102.798 132.605 123.477 253.856 116.552 112.507 194.814 139.637 255.142 105.337 132.12 129.828 255.109 110.878 105.279 136.724 231.851 104.523 124.426 133.038 194.387 253.148 113.261 138.898 254.4 107.695 106.179 122.051 0 192.51 120.648 78.912 102.241 119.66 91.503 124.81 88.814 99.73 118.752 83.597 109.494 119.702 80.053

2004VolvoS404D 203.158 194.59 190.601 197.758 191.282 193.55 205.675 215.788 186.813 193.982 198.754 184.521 185.707 182.543 184.347 188.226 206.591 180.389 202.382 191.99 187.107 198.481 195.943 183.506 196.55 206.244 196.366 183.192 190.097 189.368 239.203 194.782 184.153 190.167 208.651 199.026 182.603 187.99 185.822 190.63 170.452 190.353 199.419 207.095 238.356 179.958 194.734 192.479 184.341 194.873 184.308 189.171 192.51 0 191.94 189.034 192.89 192.631 202.383 194.306 190.35 195.694 191.709 196.672 192.066 201.557 197.382

2004VolvoS604D 109.743 136.232 253.497 134.602 253.439 129.768 115.864 130.05 115.397 107.655 134.06 119.575 120.062 247.47 250.063 121.717 123.098 247.328 136.531 119.854 133.987 259.392 130.056 245.696 121.669 115.352 110.064 248.881 104.018 117.074 189.491 132.351 246.278 121.677 112.539 108.587 248.388 109.903 116.077 119.777 231.617 119.938 109.456 119.637 189.688 247.667 133.788 128.956 246.85 132.676 119.896 79.567 120.648 191.94 0 117.857 128.431 91.522 124.153 89.077 114.207 128.077 84.643 123.44 123.369 121.004 121.888

2004VolvoS804D 132.665 121.666 256.946 129.588 256.318 101.555 136.978 143.441 121.793 122.669 136.79 122.493 118.034 250.389 252.463 95.405 139.664 250.064 106.992 111.167 124.838 263.196 134.866 250.051 98.952 134.356 127.853 250.34 115.648 112.052 189.964 131.144 251.91 93.925 137.891 127.001 250.838 110.46 103.16 128.858 230.781 100.199 126.141 134.189 189.599 249.246 103.647 131.434 250.793 108.033 96.214 114.388 78.912 189.034 117.857 0 95.058 124.804 92.508 118.706 90.385 98.648 120.162 89.786 100.848 123.931 85.794

2003VolvoS404D 134.759 122.998 259.452 135.124 261.371 108.446 129.094 142.877 122.418 124.086 126.276 118.477 118.608 252.75 255.853 89.416 130.383 252.315 104.795 120.119 118.228 265.924 130.783 250.719 102.934 127.896 126.473 252.677 118.918 110.887 185.965 122.959 253.067 92.803 132.095 121.663 253.632 111.564 107.738 122.811 231.12 103.514 118.123 125.766 185.245 250.433 98.488 125.251 249.419 94.601 99.626 123.776 102.241 192.89 128.431 95.058 0 132.1 108.847 131.234 102.772 86.707 126.424 99.884 82.913 119.155 106.198

2003VolvoS604D 108.281 135.307 254.441 135.967 251.386 129.381 114.761 131.203 118.334 106.241 142.173 128.289 125.032 248.957 248.194 125.749 119.556 248.211 144.338 120.128 136.251 257.82 130.351 246.346 126.967 113.985 102.236 249.98 111.041 118.655 192.712 139.879 245.333 127.973 114.937 114.739 249.401 115.595 120.131 126.397 233.919 121.079 113.63 123.025 191.84 248.496 140.064 132.904 246.942 128.672 128.844 94.869 119.66 192.631 91.522 124.804 132.1 0 130.935 94.092 119.181 128.205 94.086 122.297 126.88 122.361 125.33

2003VolvoS804D 137.478 135.795 262.649 144.006 260.925 117.179 143.779 143.962 138.412 133.004 150.106 138.319 134.287 256.576 257.205 109.328 144.085 257.215 107.338 123.244 143.07 267.242 150.47 254.599 108.729 138.632 132.779 257.229 130.936 124.667 197.806 145.495 255.297 107.368 141.479 135.314 257.57 124.222 122.894 143.074 227.408 112.64 132.8 137.26 197.084 257.117 121.394 147.787 253.893 113.436 113.35 128.594 91.503 202.383 124.153 92.508 108.847 130.935 0 128.868 100.658 105.278 127.76 92.195 111.343 128.146 83.639

2002VolvoS604D 115.765 137.754 254.006 131.602 250.662 127.275 116.341 129.589 118.825 121.398 136.539 122.878 121.705 248.365 246.729 119.084 126.832 248.541 143.352 128.932 137.072 258.16 132.326 244.21 125.527 118.607 119.162 248.827 116.547 127.942 190.977 133.592 242.556 121.513 116.232 118.418 248.692 121.597 127.112 123.451 231.965 122.278 119.451 125.286 188.898 248.8 133.557 131.062 244.198 133.519 118.659 78.957 124.81 194.306 89.077 118.706 131.234 94.092 128.868 0 117.668 130.428 86.832 125.515 124.028 129.361 127.368

2002VolvoS804D 119.794 126.436 259.622 129.777 258.429 112.737 124.57 130.835 117.285 114.291 133.772 115.76 124.786 253.584 254.148 105.744 126.922 252.673 114.359 108.278 126.805 264.21 133.727 250.474 107.067 120.104 120.512 251.881 111.58 103.874 190.303 129.673 253.174 106.057 125.959 116.997 253.255 100.92 99.203 127.675 232.071 106.945 113.496 118.442 189.76 252.162 112.535 132.155 250.692 116.028 103.222 113.487 88.814 190.35 114.207 90.385 102.772 119.181 100.658 117.668 0 102.683 113.958 101.307 110.524 106.33 103.46

2001VolvoS404D 134.19 137.555 263.666 143.532 262.547 109.823 131.254 141.008 128.343 123.283 142.092 128.863 130.423 257.016 255.872 102.362 127.681 256.451 112.089 116.975 130.514 267.976 142.515 254.233 105.984 128.801 120.939 256.571 120.149 111.959 194.555 138.871 253.365 106.766 133.367 122.203 257.352 116.534 109.856 136.112 230.468 105.831 115.694 127.171 192.875 254.656 120.468 140.47 252.721 102.522 115.26 126.7 99.73 195.694 128.077 98.648 86.707 128.205 105.278 130.428 102.683 0 126.626 93.74 84.782 117.325 105.762

2001VolvoS604D 110.315 132.187 256.627 137.607 255.121 133.779 111.632 125.729 115.016 108.771 134.012 119.397 120.302 249.648 251.846 120.878 121.997 248.974 137.062 122.697 132.838 262.383 128.596 246.139 122.138 107.319 105.979 249.343 103.65 115.992 189.539 131.501 245.822 122.006 104.641 109.221 249.419 107.594 118.1 119.567 234.143 120.049 108.958 117.125 189.006 249.228 132.634 129.28 247.674 130.485 121.207 77.431 118.752 191.709 84.643 120.162 126.424 94.086 127.76 86.832 113.958 126.626 0 119.257 121.775 117.859 122.342

2001VolvoS804D 132.043 130.283 264.453 143.188 261.362 112.22 137.999 141.344 129.514 126.692 147.548 132.567 129.092 258.01 255.888 105.103 135.858 256.814 111.552 117.643 137.309 268.768 143.823 255.241 102.782 133.012 122.6 257.576 121.282 116.28 196.753 143.672 253.035 107.218 135.882 132.231 258.131 116.593 115.777 137.268 230.627 107.568 125.54 135.952 198.457 256.38 119.88 143.925 254.783 103.889 113.541 124.645 83.597 196.672 123.44 89.786 99.884 122.297 92.195 125.515 101.307 93.74 119.257 0 104.362 121.142 81.259

2000VolvoS404D 134.073 131.215 258.266 133.489 259.834 105.623 131.724 142.322 122.008 123.792 134.135 121.766 118.129 252.189 252.962 90.023 131.34 252.207 117.098 119.875 125.153 264.962 134.456 249.801 104.451 131.101 124.025 253.513 119.237 111.002 190.915 130.305 249.689 93.127 133.748 122.129 253.553 113.492 111.56 124.632 228.986 97.814 118.774 129.829 190.326 251.267 113.676 130.743 248.985 98.732 105.686 119.611 109.494 192.066 123.369 100.848 82.913 126.88 111.343 124.028 110.524 84.782 121.775 104.362 0 122.23 111.792

2000VolvoS704D 116.462 143.599 264.866 149.439 265.884 138.436 110.593 129.603 120.475 110.508 137.509 126.692 134.876 258.149 261.667 129.656 108.974 256.925 130.427 114.45 136.117 269.766 131.687 254.98 123.734 103.019 114.793 256.581 112.539 97.594 194.904 137.951 255.861 133.284 109.717 110.332 258.856 94.796 108.182 127.514 239.67 125.692 96.067 98.664 194.584 255.413 128.28 134.246 255.259 133.625 134.521 123.043 119.702 201.557 121.004 123.931 119.155 122.361 128.146 129.361 106.33 117.325 117.859 121.142 122.23 0 128.111

2000VolvoS804D 137.533 125.878 260.986 139.069 258.365 114.913 143.755 144.485 134.051 129.795 147.934 135.003 126.309 255.34 254.67 107.246 143.059 254.573 107.367 117.258 137.97 265.497 145.036 253.958 106.26 138.149 125.836 255.608 125.377 120.622 196.225 142.665 252.324 106.224 139.14 135.504 255.604 119.683 117.015 138.174 229.169 107.955 131.047 140.75 197.027 255.031 116.374 142.607 254.004 108.042 110.738 125.786 80.053 197.382 121.888 85.794 106.198 125.33 83.639 127.368 103.46 105.762 122.342 81.259 111.792 128.111 0

55

Preliminary ResultsUnknown:2005FordFocusZX32D vs Only 2D Vehicles

0

20

40

60

80

100

120

2005FordFocusZX32D

2001FordFocus2DZX3

2004FordFoucs2DZX3

2001ToyotaSolara2D

2003FordFocus2DZX3

2000FordFocus2DZX3

2000ToyotaSolara2D

2002FordFocus2DZX3

2003TotoyaSolara2D

2004ToyotaSolara2D

2005ToyotaSolara2D

2005ToyotaCelica2D

2005FordMustangC

oupe2DV6D

eluxe

2004ToyotaCelica2D

2000ToyotaCelica2D

2003ToyotaCelica2D

2001ToyotaCelica2D

2002ToyotaCelica2D

2000ToyotaEcho2D

2002ToyotaEcho2D

2003FordMustang2D

GT

2004FordMustang2D

2000FordMustang2D

GT

2002FordMustang2D

GT

Series1

56

Next Steps

Preliminary Conclusion:Creating a feature vector composed of shape descriptors using shape contexts demonstrates a high discriminatory power in vehicle identification.

ELATION!

57


9/03

1/04

1/05

1/06


Advisor Selection


Draft Idea Paper

Committee Formation


Proposal

Draft Chap 1&2

Draft Chap 3&4


Draft Chap 4&5


Defense

Now!

Elation

58

Desperation!

• This is not new it is just an application of what is already known!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

• Now what do I do?????

59


9/03

1/04

1/05

1/06


Advisor Selection


Draft Idea Paper

Committee Formation


Proposal

Draft Chap 1&2

Draft Chap 3&4


Draft Chap 4&5


Defense

Now!

Desperation --- but never give in

60

Next Steps

Preliminary Conclusion:Creating a feature vector composed of shape descriptors using shape contexts demonstrates a high discriminatory power in vehicle identification.

Research Exploration: How well can shape contexts perform in the role of image segmentation???

1.Develop semantic extraction using Shape Contexts2.Test segmentation / extraction method for semantic shapes3.Compare segmentation / extraction method for semantic shapes to other methods

61

Shape Extraction using Shape Contexts

1. From known database develop invariant models for window shape 1,2 and 3, door shapes and body shape using clustering analysis

2. For these known shapes and their contexts, develop shape histograms for neighborhood of high information context points on shape using entropy measures

3. Scan across an edge detected image using a window, computing the local neighborhood in the window

4. Compare the local neighborhood to the known shape contexts local neighborhood and find best fits

5. Focus on best fits and match known shape to points in the best fit area

62

For known shapes and their contexts, develop shape histograms for neighborhood of high information context points on shape using entropy measures

• Use entropy calculation to determine the local set of points to use as reference on known shape context. (Note: Shape Context is intentionally biased toward close in points)

• Use a subset of points on the know shape, slide around the shape calculating entropy select the highest point subset

(“The Entropy Strategy for Shape Recognition”, D Geman, Proc. 1994 IEEE-IMS workshop on Information Theory and Statistics, Alexandria, VA, October, 1994

63

Shape Entropy Example

(“The Entropy Strategy for Shape Recognition”, D Geman, Proc. 1994 IEEE-IMS workshop on Information Theory and Statistics, Alexandria, VA, October, 1994

16 discrete samples from the curve

•12 flat line segments – 0 deg turning angle

•4 corners - 90 deg turning angle

Prob 0 deg =3/4 and Prob 90 deg = ¼

8.log)( ii

i ppxH

Slide window

64

Segmentation using Local Shape Contexts by looking for similar local shape histograms

Select the closet match and then fit the invariant model to the available points in the image by scaling for best fit

65


9/03

1/04

1/05

1/06


Advisor Selection


Draft Idea Paper

Committee Formation


Proposal

Draft Chap 1&2

Draft Chap 3&4


Draft Chap 4&5


Defense

Now!

Despair -- What cap and gown?

66

Trying to regain the will to live

And then: …….

Beyond Desperation

67

Introduction and Overview• The research focuses on and extends the work done on a new

shape descriptor called “Shape Contexts”

• Constraining shapes to be continuous outlines (no holes) it is proved using graph theory and then confirmed through experiments that the original matching method which is modeled on the “Assignment Problem” is subject to degenerate shape description

• A simpler matching algorithm called the “Least Cost Diagonal” which utilizes the physical relationship of points on a boundary is introduced and compared to the original method

• The efficacy of the Least Cost Diagonal method is confirmed through experiments to the original method in a Nearest Neighbor comparison using a previously classified pottery database

68

Shape Contexts-Assumptions

• Comparing two shapes was modeled after “The Assignment Problem”

• Assumption: The boundary points are in no particular order[2]

XX

X

XX

X

[2] T. B. Sebastian, P. N. Klein, and B. B. Kimia, "Recognition of shapes by editing their shock graphs," Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 26, pp. 550-571, 2004.

69

Shape Contexts-The Assignment Problem

• What is the best fit (minimum cost) to align all the points?• The Assignment Problem – Hungarian Method for bi-partite matching problem

We will be working with the following problem: assign n = 9 candidates to n=9 jobs to minimize the total salary cost paid by the department. The individual salaries of each candidate at each job position depend on their qualification and are given by the cost matrix (in $ per hour):

Sam Jill John Liz Ann Lois Pete Alex Herb

Administrator 20 15 10 10 17 23 25 5 15

Secretary to the Chair 10 10 12 15 9 7 8 7 8

Undergraduate Secretary 12 9 9 10 10 5 7 13 9

Graduate Secretary 13 14 10 15 15 5 8 20 10

Financial Clerk 12 13 10 15 14 5 9 20 10

Secretary 15 14 15 16 15 5 10 20 10

Web designer 7 9 12 12 7 6 7 15 12

Receptionist 5 6 8 8 5 4 5 10 7

Typist 5 6 8 8 5 4 5 10 7 If we start with the position of Administrator and assign it to Alex (he gets the minimal salary for this position), then we assign the position of Secretary to Chair to Lois (he gets the minimal salary for this position), and so on, up to the position of Typist, then the assignment is given by the assignment matrix:

70

Shape Contexts-Observations

• Using the assignment problem model means that the neighborhood-ness of the boundary points is not used.

• The potential of degenerate shape description exists ( i.e. very different shapes that use the same boundary points but in which the points occurs in different orders will be computed to be the same)

71

Shape Contexts-Degenerate Behavior

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0.000.001

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.9142.8664

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YXPoint

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.5.8663

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0.000.001

YXPoint

X

X

XX X

XX

1

2

3

4 5

67

X

X

XX X

XX

1

2

3

4 5

67

X

X

XX X

XX

1

2

3

4 5

67

X

X

XX X

XX

1

2

3

4 5

67

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XX X

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1

2

3

4 5

67

X

X

XX X

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1

2

3

4 5

67

Shape 1 Shape 2 Shape 3Distance from Shape 1 – Hungarian 0

Distance from Shape 1 – LCD 25 rotation 0 degrees

Distance from Shape 1 – Hungarian 0


72

Shape Contexts-Degenerate Behavior Formalization

Graph Theoretic Proof with Examples

Step 1: Using the definition of a Hamiltonian Cycle prove using Jordan's Theorem that each different Hamiltonian Cycle of a set of vertices is a distinct shape corresponding to that Hamiltonian Cycle

Step 2: Prove that the Hamiltonian Cycles of a particular graph which have been shown to represent distinct shapes are computed to be identical by the shape context method developed by Belongie (solving point assignment matching using the Assignment Problem as the model)

Jordan Curve Theorem If J is a simple closed curve in R2, then the Jordan curve theorem, also called the Jordan-Brouwer theorem (Spanier 1966) states that R2 J -has two components (an "inside" and "outside"), with J the boundary of each.

The Jordan curve theorem is a standard result in algebraic topology with a rich history. A complete proof can be found in Hatcher (2002, p. 169), or in classic texts such as Spanier (1966). Recently, a proof checker was used by a Japanese-Polish team to create a "computer-checked" proof of the theorem (Grabowski 2005).

http://mathworld.wolfram.com/JordanCurveTheorem.html

73

Shape Contexts-Proof of Degenerate Behavior

Let a shape S on a binary image I be a connected component where every pixel whose

value is 1 is an element of S. A shape S partitions the two dimensional plane into two

regions: the interior (union of pixels whose value is 1) and exterior (union of pixels

whose value is 0).

Lemma 1: Every iH for a unit graph G forms a certain shape iS .

Proof: iH is a closed cycle graph by definition or an n-gon if G is planar. By the Jordan curve theorem [12, 15], iH partitions the plane into two regions, the interior and exterior. Painting the interior and exterior regions with black and white colors, respectively, produces a connected component shape. Thus, every iH for a unit graph G forms a certain shape iS .

Step 1

[4] O. Veblen, "Theory on plane curves in non-metrical analysis situs," Transactions of the American Mathematical Society vol. 6, pp. 83-98, 1905.

[4]

74


Step 1 ExampleG 1H

2H3H

7H

5H

6H

4H

G 1H

2H3H

7H

5H

6H

4H

75


Theorem 1: All shapes iS formed by iH for a unit planar graph G are considered

identical shapes by SC algorithm if 1p V .

Proof: Let S and S’ be two distinctive shapes formed by two Hamiltonian cycles for a

unit graph G where 1{ }nV v v . The SC algorithm will place ip s exactly on vertices on

G since all edges are unit distance d in length. Let h and h’ be polar histograms for S and

S’, respectively. Since locations of vertices are the same in two shapes, h = h’. Hence, we

can derive the following from the eqn (2).

1

2, 1

1

,

1/ 2 [ ( ) '( )] /( ( ) '( )) 0 where

( , ') 0n

b

i i nk

v

i ii v

C h k h k h k h k i v v

SCdistance S S C

Therefore, all shapes iS formed by iH for a unit planar graph G are considered identical

shapes by the SC algorithm if 1p V .

?

Step 2

76


Step 2 Example

1S 1S

1S 2S 3S

(a)

1S 2S 3S0 105 0

105 0 1060 106 0

1S

2S

3S

(b)

77

The Least Cost Diagonal

• Constrains the domain of shapes to outlines (no holes)

• Constrains matches to made up of boundary ordered points

• Avoids degenerate shape matching• Runs much more quickly than the original

method• Gives an indication of degree of rotation of

one shape to another

78

The Least Cost Diagonal-How it works

x x

x

xx

x x x

x

xx

x

1 2 3 4 5 61 0.00 6.00 10.00 10.00 10.00 4.002 6.00 0.00 6.00 6.00 10.00 6.003 10.00 6.00 0.00 6.00 10.00 10.004 10.00 6.00 6.00 0.00 6.00 6.005 10.00 10.00 10.00 6.00 0.00 6.006 4.00 6.00 10.00 6.00 6.00 0.00

Point

Point

x x

x

xx

xx x

x

xx

x x x

x

xx

xx x

x

xx

x

1 2 3 4 5 61 0.00 6.00 10.00 10.00 10.00 4.002 6.00 0.00 6.00 6.00 10.00 6.003 10.00 6.00 0.00 6.00 10.00 10.004 10.00 6.00 6.00 0.00 6.00 6.005 10.00 10.00 10.00 6.00 0.00 6.006 4.00 6.00 10.00 6.00 6.00 0.00

Point

Point

0 degrees

x x

x

xx

x

xx xx

x

x1 2 3 4 5 6

1 6.00 4.00 0.00 8.00 3.33 10.002 8.00 6.00 8.00 0.00 6.00 10.003 8.00 6.00 3.33 6.00 0.00 10.004 6.00 10.00 10.00 10.00 10.00 0.005 0.00 8.00 6.00 8.00 8.00 6.006 8.00 0.00 4.00 6.00 6.00 10.00

Point

Point

90 degrees

x x

x

xx

x xxx x

x

x

1 2 3 4 5 61 6.00 4.00 0.00 8.00 3.33 10.002 8.00 6.00 8.00 0.00 6.00 10.003 8.00 6.00 3.33 6.00 0.00 10.004 6.00 10.00 10.00 10.00 10.00 0.005 0.00 8.00 6.00 8.00 8.00 6.006 8.00 0.00 4.00 6.00 6.00 10.00

Point

Point

180 degrees

x x

x

xx

x

xx

x

x x

x

1 2 3 4 5 61 3.33 10.00 6.00 4.00 0.00 8.002 6.00 10.00 8.00 6.00 8.00 0.003 0.00 10.00 8.00 6.00 3.33 6.004 10.00 0.00 6.00 10.00 10.00 10.005 8.00 6.00 0.00 8.00 6.00 8.006 6.00 10.00 8.00 0.00 4.00 6.00

Point

Point

270 degrees

x x

x

xx

x x x

x

xx

x

1 2 3 4 5 61 0.00 6.00 10.00 10.00 10.00 4.002 6.00 0.00 6.00 6.00 10.00 6.003 10.00 6.00 0.00 6.00 10.00 10.004 10.00 6.00 6.00 0.00 6.00 6.005 10.00 10.00 10.00 6.00 0.00 6.006 4.00 6.00 10.00 6.00 6.00 0.00

Point

Point

x x

x

xx

xx x

x

xx

x x x

x

xx

xx x

x

xx

x

1 2 3 4 5 61 0.00 6.00 10.00 10.00 10.00 4.002 6.00 0.00 6.00 6.00 10.00 6.003 10.00 6.00 0.00 6.00 10.00 10.004 10.00 6.00 6.00 0.00 6.00 6.005 10.00 10.00 10.00 6.00 0.00 6.006 4.00 6.00 10.00 6.00 6.00 0.00

Point

Point

0 degrees

x x

x

xx

x

xx xx

x

x1 2 3 4 5 6

1 6.00 4.00 0.00 8.00 3.33 10.002 8.00 6.00 8.00 0.00 6.00 10.003 8.00 6.00 3.33 6.00 0.00 10.004 6.00 10.00 10.00 10.00 10.00 0.005 0.00 8.00 6.00 8.00 8.00 6.006 8.00 0.00 4.00 6.00 6.00 10.00

Point

Point

90 degrees

x x

x

xx

xx x

x

xx

x

xx xx

x

xx

x xxx

x1 2 3 4 5 6

1 6.00 4.00 0.00 8.00 3.33 10.002 8.00 6.00 8.00 0.00 6.00 10.003 8.00 6.00 3.33 6.00 0.00 10.004 6.00 10.00 10.00 10.00 10.00 0.005 0.00 8.00 6.00 8.00 8.00 6.006 8.00 0.00 4.00 6.00 6.00 10.00

Point

Point

90 degrees

x x

x

xx

x xxx x

x

x

1 2 3 4 5 61 6.00 4.00 0.00 8.00 3.33 10.002 8.00 6.00 8.00 0.00 6.00 10.003 8.00 6.00 3.33 6.00 0.00 10.004 6.00 10.00 10.00 10.00 10.00 0.005 0.00 8.00 6.00 8.00 8.00 6.006 8.00 0.00 4.00 6.00 6.00 10.00

Point

Point

180 degrees

x x

x

xx

xx x

x

xx

x xxx x

x

xx

xx xx

x

1 2 3 4 5 61 6.00 4.00 0.00 8.00 3.33 10.002 8.00 6.00 8.00 0.00 6.00 10.003 8.00 6.00 3.33 6.00 0.00 10.004 6.00 10.00 10.00 10.00 10.00 0.005 0.00 8.00 6.00 8.00 8.00 6.006 8.00 0.00 4.00 6.00 6.00 10.00

Point

Point

180 degrees

x x

x

xx

x

xx

x

x x

x

1 2 3 4 5 61 3.33 10.00 6.00 4.00 0.00 8.002 6.00 10.00 8.00 6.00 8.00 0.003 0.00 10.00 8.00 6.00 3.33 6.004 10.00 0.00 6.00 10.00 10.00 10.005 8.00 6.00 0.00 8.00 6.00 8.006 6.00 10.00 8.00 0.00 4.00 6.00

Point

Point

270 degrees

x x

x

xx

xx x

x

xx

x

xx

x

x x

x xx

x

x x

x

1 2 3 4 5 61 3.33 10.00 6.00 4.00 0.00 8.002 6.00 10.00 8.00 6.00 8.00 0.003 0.00 10.00 8.00 6.00 3.33 6.004 10.00 0.00 6.00 10.00 10.00 10.005 8.00 6.00 0.00 8.00 6.00 8.006 6.00 10.00 8.00 0.00 4.00 6.00

Point

Point

270 degrees 180 degrees270 degrees

79

Shape Contexts-Degenerate Behavior

.500.8667

.5001.8666

.91421.8665

.9142.8664

1.41420.003

.7071-.70712

0.000.001

YXPoint

.500.8667

.5001.8666

.91421.8665

.9142.8664

1.41420.003

.7071-.70712

0.000.001

YXPoint

.5001.8667

.91421.8666

.9142.8665

.5.8664

1.41420.003

.7071-.70712

0.000.001

YXPoint

.5001.8667

.91421.8666

.9142.8665

.5.8664

1.41420.003

.7071-.70712

0.000.001

YXPoint

.500.8667

.51.8666

.9142.8665

1.414204

.5.8663

.7071-.70712

0.000.001

YXPoint

.500.8667

.51.8666

.9142.8665

1.414204

.5.8663

.7071-.70712

0.000.001

YXPoint

X

X

XX X

XX

1

2

3

4 5

67

X

X

XX X

XX

1

2

3

4 5

67

X

X

XX X

XX

1

2

3

4 5

67

X

X

XX X

XX

1

2

3

4 5

67

X

X

XX X

XX

1

2

3

4 5

67

X

X

XX X

XX

1

2

3

4 5

67

Shape 1 Shape 2 Shape 3Distance from Shape 1 – Hungarian 0


Distance from Shape 1 – Hungarian 0


80

Experimental Results

• Basic Shape Context Experiments

• Classification Performance

• Timing and Boundary Point dependence

81


• Basic Shape Context Experiments– Translation, Scale and Rotation Invariance – Shape Matching with the Least Cost Diagonal– Demonstration of Degenerate Shape

Description/Matching

82


• Classification Performance– Use a NN analysis on a known database

which had already been grouped into classes[5]. Compare the Assignment Model Matching to the Least Cost Diagonal at varying number of boundary points

– Experiments performed:• One pottery class against each other class• One pottery class against groups of two classes• One pottery class against groups of three classes

[5] RG. Bishop, S. Cha, and C.C. Tappert, "Identification of Pottery Shapes and Schools Using Image Retrieval Techniques," Proc. MCSCE, CISST, Las Vegas, NV, June 2005.

What happened to the cars?????

83


• Timing and Boundary Point dependence– Timing: From all the classification runs plus

additional runs at higher number of boundary points verify the order of computational complexity

– Point dependence: Run the classification on particular classes that did not perform well at additional boundary points(150 and 250) to demonstrate that a relationship between the number of points and performance exists

84

Classification Experimental Results• Experimental Procedure: Compute % correctly classified for various numbers of boundary

points (3,4,5,10,20,100)[6,7]

Class 1 Shapes Class 2 Shapes

SA1 SA2 SA3 SA4 SA5 SA6 SA7 SB1 SB2 SB3 SB4 SB5

Class 1 S

hapes

SA1

SA2

SA3

SA4

SA5

SA6

SA7

Hungarian or LCD Costs

[6] S. Belongie, J. Malik, and J. Puzicha, "Matching Shapes," presented at International Conference on Computer Vision (ICCV'01) Volume 1 2001.

[7] K. Mikolajczyk and C. Schmid, "A performance evaluation of local descriptors," Pattern Analysis and Machine Intelligence, IEEE Transactions on , vol. 27, pp. 1615-1630, 2005.

85

Classification Experimental Results

Example: Class 1 vs Class 2 and Class 3

0

10

20

30

40

50

60

70

80

90

100

0points

3points

4points

5points

10points

20points

100points

Number of Points

% C

orre

ct

DiagonalHungarian

0

10

20

30

40

50

60

70

80

90

100

0points

3points

4points

5points

10points

20points

100points

Number of Points%

Cor

rect

DiagonalHungarian

86

Classification Experimental Results: Timing

• Averaged the timing for each set of boundary points-60 runs per boundary point. (Added six additional runs to extend the timings up to 250 points)

• Fitted a polynomial to the data to derive the computational order of complexity

Least Cost Diagonal Timing

0

0.005

0.01

0.015

0.02

0 100 200 300 400 500 600

Number of Points

Tim

e in

Sec

onds

Hungarian Timing

-50

0

50

100

150

200

250

0 100 200 300 400 500 600

Number of Points

Tim

e in

Sec

onds

Least Cost Diagonal Timing

0

0.005

0.01

0.015

0.02

0 100 200 300 400 500 600

Number of Points

Tim

e in

Sec

onds

Hungarian Timing

-50

0

50

100

150

200

250

0 100 200 300 400 500 600

Number of Points

Tim

e in

Sec

onds

87

Classification Experimental Results: Timing Curve Fitting

88

Classification Experimental Results: Boundary Points

Class 1

Class 5

89


Class 1 vs Class 5

0

10

20

30

40

50

60

70

80

90

100

0points

3points

4points

5points

10points

20points

100points

Number of Points

% C

orre

ct

DiagonalHungarian

a b

Class 1 vs Class 5 250 boundary points

0

10

20

30

40

50

60

70

80

90

100

0points

3points

4points

5points

10points

20points

100points

150points

250points

Number of Points

% C

orre

ct

DiagonalHungarian

Class 1 vs Class 5

0

10

20

30

40

50

60

70

80

90

100

0points

3points

4points

5points

10points

20points

100points

Number of Points

% C

orre

ct

DiagonalHungarian

a b

Class 1 vs Class 5 250 boundary points

0

10

20

30

40

50

60

70

80

90

100

0points

3points

4points

5points

10points

20points

100points

150points

250points

Number of Points

% C

orre

ct

DiagonalHungarian

90


Class 3 vs Class 11,12,13 250 points

0

10

20

30

40

50

60

70

80

90

100

0points

3points

4points

5points

10points

20points

100points

150points

250points

Number of Points%

Cor

rect

DiagonalHungarian

Class 3 vs Class 11,12,13

0

10

20

30

40

50

60

70

80

90

100

0points

3points

4points

5points

10points

20points

100points

Number of Points

% C

orre

ct

DiagonalHungarian

91

Summary•The research has confirmed the properties of the Shape Context and proved that when the domain of the shape matching is limited to outlines, erroneous shape matching based on degenerate shape descriptors can occur •A new matching method has been introduced( Least Cost Diagonal) and its efficacy verified against real images and compared to the original method developed by Belongie

•Further work was identified:•Is there a relationship between the number boundary points to the accuracy of shape matching?•Are there better distance measures for shape context histograms?•Are there better quantizing schemes for shape contexts?

92


9/03

1/04

1/05

1/06


Advisor Selection


Draft Idea Paper

Committee Formation


Proposal

Draft Chap 1&2

Draft Chap 3&4


Draft Chap 4&5


Defense

Now!

Defense was on July 14th, 2006

93

Post-Defense Work

• Apply the new method to my existing car database– Compare to “Hungarian Method” for accuracy

and speed

• Make the dissertation longer

94

Discussion/Lessons Learned• Really have an interest in your topic!!• Get comfortable with uncertainty• See your faculty advisors early and often• Work on your project ever day!!!• Don’t throw anything away• Make it at least 100 pages long without the references• “The way to get good ideas is to get lots of ideas, and

throw the bad ones away” – Dr. Linus Pauling

(The trick is recognizing the bad ones)!Dr. Carl Abrams

The Odyssey of: Shape Matching with Ordered Boundary Point Shape Contexts Using a Least Cost...

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