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Computing Motion from Images. Chapter 9 of S&S plus otherwork. General topics. Low level change detection Region tracking or matching over time Interpretation of motion MPEG compression Interpretation of scene changes in video Understanding human activites. - PowerPoint PPT Presentation
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Stockman MSU Fall 2009 1
Computing Motion from Images
Chapter 9 of S&S plus otherwork.
Stockman MSU Fall 2009 2
General topics
Low level change detection Region tracking or matching over
time Interpretation of motion MPEG compression Interpretation of scene changes in
video Understanding human activites
Stockman MSU Fall 2009 3
Motion important to human vision
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What’s moving: different cases
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Image subtraction
Simple method to remove unchanging background from
moving regions.
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Change detection for surveillance
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Change detection by image subtraction
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What to do with regions of change?
Discard small regions Discard regions of non interesting
features Keep track of regions with
interesting features Track in future frames from motion
plus component features
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Some effects of camera motion that can cause problems
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Motion field
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FOE and FOC
Will return to use the FOE or FOC or detection of panning to determine what the camera is doing in video tapes.
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Gaming using a camera to recognize the player’s motion
Decathlete game
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Decathlete game
Cheap camera replaces usual mouse for input
Running speed and jumping of the avatar is controlled by detected motion of the player’s hands.
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Motion detection input device
Running (hands)Jumping (hands)
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Motion analysis controls hurdling event (console)
•Top left shows video frame of player
•Middle left shows motion vectors from multiple frames
•Center shows jumping patterns
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Related work
Motion sensed by crude cameras Person dances/gestures in space System maps movement into
music Creative environment? Good exercise room?
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Computing motion vectors from corresponding “points”
High energy neighborhoods are used to define points for
matching
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Match points between frames
Such large motions are unusual. Most systems track small motions.
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Requirements for interest points
Match small neighborhood to small neighborhood. The previous “scene” contains several highly textured neighborhoods.
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Interest = minimum directional variance
Used by Hans Moravec in his robot stereo vision system.
Interest points were used for stereo matching.
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Detecting interest points in I1
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Match points from I1 in I2
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Search for best match of point P1 in nearby window of I2
For both motion and stereo, we have some constraints on where to search for a matching interest point.
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Motion vectors clustered to show 3 coherent regions
All motion vectors are clustered into 3 groups of similar vectors showing motion of 3 independent objects. (Dina Eldin)
Motion coherence: points of same object tend to move in the same way
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Two frames of aerial imagery
Video frame N and N+1 shows slight movement: most pixels are same, just in different locations.
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Can code frame N+d with displacments relative to frame N
for each 16 x 16 block in the 2nd image
find a closely matching block in the 1st image
replace the 16x16 intensities by the location in the 1st image (dX, dY)
256 bytes replaced by 2 bytes! (If blocks differ too much, encode the
differences to be added.)
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Frame approximation
Left is original video frame N+1. Right is set of best image blocks taken from frame N. (Work of Dina Eldin)
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Best matching blocks between video frames N+1 to N (motion vectors)
The bulk of the vectors show the true motion of the airplane taking the pictures. The long vectors are incorrect motion vectors, but they do work well for compression of image I2!
Best matches from 2nd to first image shown as vectors overlaid on the 2nd image. (Work by Dina Eldin.)
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Motion coherence provides redundancy for compression
MPEG “motion compensation” represents motion of 16x16 pixels blocks, NOT objects
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MPEG represents blocks that move by the motion vector
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MPEG has ‘I’, ‘P’, and ‘B’ frames
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Computing Image Flow
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Assumptions
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IMAGE
FLOW
EQUATION
1 of 2
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Image flow equation 2 of 2
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Aperture problem
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Solving flow by propagation of constraints
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Info at corner constrains the flow along both edges
Solve constraints using contraint propagation or differential equation with boundary conditions.
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Tracking several objects
Use assumptions of physics to compute multiple smooth
paths.(work of Sethi and R. Jain)
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Tracking in images over time
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General constraints from physics
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Other possible constraints
Background statistics stable Object color/texture/shape might
change slowly over frames Might have knowledge of objects
under survielance Objects appear/disappear at
boundary of the frame
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Sethi-Jain algorithm
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Total smoothness of m paths
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Greedy exchange algorithm
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Example data structure
Total smoothness for trajectories of Figure 9.14
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Example of domain specific tracking (Vera Bakic)
Tracking eyes and nose of PC user. System presents menu (top). User moves face to position cursor to a particular box (choice). System tracks face movement and moves cursor accordingly: user gets into feedback-control loop.
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Segmentation of videos/movies
Segment into scenes, shots, specific actions, etc.
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Types of changes in videos
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Anchor person scene at left
Street scene for news story
Scene break
From Zhang et al 1993
How do we compute the scene change?
Stockman MSU Fall 2009 55
Histograms of frames across the scene change
Histograms at left are from anchor person frames, while histogram at bottom right is from the street frame.
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Heuristics for ignoring zooms
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American sign language example
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Example from Yang and Ahuja
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