Hough Transform

600.658 - Seminar on Shape Analysis and Retrieval

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

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Detection of arbitrary shapes

Partial shape matching can also be viewed as detecting arbitrary shapes Hough transform is a method for estimating the parameters of a shape from its boundary points The idea can be generalized to estimate parameters of arbitrary shapes

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

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Outline

Hough Transform for Analytical Shapes Voting in Parameter Space Using Directional Information Error Compensation: Smoothing

Generalizing to Non-Analytical Shapes

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

3 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Outline

Hough Transform for Analytical Shapes Voting in Parameter Space Using Directional Information Error Compensation: Smoothing

Generalizing to Non-Analytical Shapes

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

4 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Straight line
Normal parameterization: x cos + y sin = Points in picture sinusoids in parameter space Points in parameter space lines in picture Sinusoids corresponding to co-linear points intersect at an unique point
[2]

Example Line: 0.6x + 0.4y = 2.4 Sinusoids intersect at: = 2.4, = 0.9273
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 5 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Straight line
Normal parameterization: x cos + y sin = Points in picture sinusoids in parameter space Points in parameter space lines in picture Sinusoids corresponding to co-linear points intersect at an unique point
[2]

Example Line: 0.6x + 0.4y = 2.4 Sinusoids intersect at: = 2.4, = 0.9273
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 6 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Straight line
Normal parameterization: x cos + y sin = Points in picture sinusoids in parameter space Points in parameter space lines in picture Sinusoids corresponding to co-linear points intersect at an unique point
[2]

Example Line: 0.6x + 0.4y = 2.4 Sinusoids intersect at: = 2.4, = 0.9273
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 7 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Straight line
Normal parameterization: x cos + y sin = Points in picture sinusoids in parameter space Points in parameter space lines in picture Sinusoids corresponding to co-linear points intersect at an unique point Example Line: 0.6x + 0.4y = 2.4 Sinusoids intersect at: = 2.4, = 0.9273
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 8 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Outline

Hough Transform for Analytical Shapes Voting in Parameter Space Using Directional Information Error Compensation: Smoothing

Generalizing to Non-Analytical Shapes

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

9 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Quantize parameter space and vote into bins

Let [R, R] and [0, ) For each edge point (xi , yi ), calculate: = xi cos + yi sin [0, ) Accumulator: A(, ) = A(, ) + 1 Threshold the accumulator values to get parameters for detected lines Same general idea applies to other analytical shapes O(nd1 ) computation, instead of O(n2 ) Can we do better?
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 10 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Quantize parameter space and vote into bins

Let [R, R] and [0, ) For each edge point (xi , yi ), calculate: = xi cos + yi sin [0, ) Accumulator: A(, ) = A(, ) + 1 Threshold the accumulator values to get parameters for detected lines Same general idea applies to other analytical shapes O(nd1 ) computation, instead of O(n2 ) Can we do better?
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 11 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Quantize parameter space and vote into bins

Let [R, R] and [0, ) For each edge point (xi , yi ), calculate: = xi cos + yi sin [0, ) Accumulator: A(, ) = A(, ) + 1 Threshold the accumulator values to get parameters for detected lines Same general idea applies to other analytical shapes O(nd1 ) computation, instead of O(n2 ) Can we do better?
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 12 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Quantize parameter space and vote into bins

Let [R, R] and [0, ) For each edge point (xi , yi ), calculate: = xi cos + yi sin [0, ) Accumulator: A(, ) = A(, ) + 1 Threshold the accumulator values to get parameters for detected lines
Threshold at A(, ) = 30

Same general idea applies to other analytical shapes O(nd1 ) computation, instead of O(n2 ) Can we do better?
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 13 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Quantize parameter space and vote into bins

Let [R, R] and [0, ) For each edge point (xi , yi ), calculate: = xi cos + yi sin [0, ) Accumulator: A(, ) = A(, ) + 1 Threshold the accumulator values to get parameters for detected lines
Threshold at A(, ) = 20

Same general idea applies to other analytical shapes O(nd1 ) computation, instead of O(n2 ) Can we do better?
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 14 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Quantize parameter space and vote into bins

Let [R, R] and [0, ) For each edge point (xi , yi ), calculate: = xi cos + yi sin [0, ) Accumulator: A(, ) = A(, ) + 1 Threshold the accumulator values to get parameters for detected lines
Threshold at A(, ) = 15

Same general idea applies to other analytical shapes O(nd1 ) computation, instead of O(n2 ) Can we do better?
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 15 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Quantize parameter space and vote into bins

Let [R, R] and [0, ) For each edge point (xi , yi ), calculate: = xi cos + yi sin [0, ) Accumulator: A(, ) = A(, ) + 1 Threshold the accumulator values to get parameters for detected lines
Threshold at A(, ) = 15

Same general idea applies to other analytical shapes O(nd1 ) computation, instead of O(n2 ) Can we do better?
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 16 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Quantize parameter space and vote into bins

Let [R, R] and [0, ) For each edge point (xi , yi ), calculate: = xi cos + yi sin [0, ) Accumulator: A(, ) = A(, ) + 1 Threshold the accumulator values to get parameters for detected lines
Threshold at A(, ) = 15

Same general idea applies to other analytical shapes O(nd1 ) computation, instead of O(n2 ) Can we do better?
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 17 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Quantize parameter space and vote into bins

Let [R, R] and [0, ) For each edge point (xi , yi ), calculate: = xi cos + yi sin [0, ) Accumulator: A(, ) = A(, ) + 1 Threshold the accumulator values to get parameters for detected lines
Threshold at A(, ) = 15

Same general idea applies to other analytical shapes O(nd1 ) computation, instead of O(n2 ) Can we do better?
CS658: Seminar on Shape Analysis and Retrieval Hough Transform 18 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Outline

Hough Transform for Analytical Shapes Voting in Parameter Space Using Directional Information Error Compensation: Smoothing

Generalizing to Non-Analytical Shapes

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

19 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Use what you have already got!

More parameters More computation and storage Gradient information reduces one more free parameter For circle: center lies r units along the gradient Rotation aects the gradient direction only f (x, p) = (x a)2 + (y b)2 r 2 = 0 x = (x, y )
df dx (x, p) = 0 dy dx = tan (x)

p = (a, b, r ),

(x) is the gradient direction

df dx (x, p)

Update A(p) if f (x, p) = 0 and

dy dx

=0

= tan (x)

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

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Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Use what you have already got!

More parameters More computation and storage Gradient information reduces one more free parameter For circle: center lies r units along the gradient Rotation aects the gradient direction only f (x, p) = (x a)2 + (y b)2 r 2 = 0 x = (x, y )
df dx (x, p) = 0 dy dx = tan (x)

p = (a, b, r ),

(x) is the gradient direction

df dx (x, p)

Update A(p) if f (x, p) = 0 and

dy dx

=0

= tan (x)

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

21 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Use what you have already got!

More parameters More computation and storage Gradient information reduces one more free parameter For circle: center lies r units along the gradient Rotation aects the gradient direction only f (x, p) = (x a)2 + (y b)2 r 2 = 0 x = (x, y )
df dx (x, p) = 0 dy dx = tan (x)

p = (a, b, r ),

(x) is the gradient direction

df dx (x, p)

Update A(p) if f (x, p) = 0 and

dy dx

=0

= tan (x)

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

22 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Use what you have already got!

More parameters More computation and storage Gradient information reduces one more free parameter For circle: center lies r units along the gradient Rotation aects the gradient direction only f (x, p) = (x a)2 + (y b)2 r 2 = 0 x = (x, y )
df dx (x, p) = 0 dy dx = tan (x)

p = (a, b, r ),

(x) is the gradient direction

df dx (x, p)

Update A(p) if f (x, p) = 0 and

dy dx

=0

= tan (x)

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

23 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Use what you have already got!

More parameters More computation and storage Gradient information reduces one more free parameter For circle: center lies r units along the gradient Rotation aects the gradient direction only f (x, p) = (x a)2 + (y b)2 r 2 = 0 x = (x, y )
df dx (x, p) = 0 dy dx = tan (x)

p = (a, b, r ),

(x) is the gradient direction

df dx (x, p)

Update A(p) if f (x, p) = 0 and

dy dx

=0

= tan (x)

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

24 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Outline

Hough Transform for Analytical Shapes Voting in Parameter Space Using Directional Information Error Compensation: Smoothing

Generalizing to Non-Analytical Shapes

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

25 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Compensating for errors

Errors can cause A(p ) to be incremented, where p is close to the actual parameter p Compensate for the uncertainty of measurement in parameter space Smooth the accumulator by incrementing counts of nearby cells accroding to some point-spread function h Equivalent to convolving A h

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

26 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Compensating for errors

Errors can cause A(p ) to be incremented, where p is close to the actual parameter p Compensate for the uncertainty of measurement in parameter space Smooth the accumulator by incrementing counts of nearby cells accroding to some point-spread function h Equivalent to convolving A h

[1]

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

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Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Compensating for errors

Errors can cause A(p ) to be incremented, where p is close to the actual parameter p Compensate for the uncertainty of measurement in parameter space Smooth the accumulator by incrementing counts of nearby cells accroding to some point-spread function h Equivalent to convolving A h

[1]

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

28 of 40

Analytical Shapes Non-analytical Shapes Reference

Voting in Parameter Space Gradient Smoothing

Compensating for errors

Errors can cause A(p ) to be incremented, where p is close to the actual parameter p Compensate for the uncertainty of measurement in parameter space Smooth the accumulator by incrementing counts of nearby cells accroding to some point-spread function h Equivalent to convolving A h

[1]

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

29 of 40

Analytical Shapes Non-analytical Shapes Reference

The R-table Composite Shapes Incrementation Strategies

Outline

Hough Transform for Analytical Shapes Voting in Parameter Space Using Directional Information Error Compensation: Smoothing

Generalizing to Non-Analytical Shapes

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

30 of 40

Analytical Shapes Non-analytical Shapes Reference

The R-table Composite Shapes Incrementation Strategies

The R-table
Any shape is specied by the set of boundary points B = {xB } For a shape, dene p as: p = {x0 , s, } For each xB , compute r = x0 xB , and store as function of For each edge pixel x (with gradient direction (x)) in an image, obtain r from the table and update A(x + r)
i 0 1 2 ... i 0 2 ... Ri {r|x0 r = xB , xB B, (xB ) = 0} {r|x0 r = xB , xB B, (xB ) = } {r|x0 r = xB , xB B, (xB ) = 2} ...

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

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Analytical Shapes Non-analytical Shapes Reference

The R-table Composite Shapes Incrementation Strategies

The R-table
Any shape is specied by the set of boundary points B = {xB } For a shape, dene p as: p = {x0 , s, } For each xB , compute r = x0 xB , and store as function of For each edge pixel x (with gradient direction (x)) in an image, obtain r from the table and update A(x + r)
i 0 1 2 ... i 0 2 ... Ri {r|x0 r = xB , xB B, (xB ) = 0} {r|x0 r = xB , xB B, (xB ) = } {r|x0 r = xB , xB B, (xB ) = 2} ...

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

32 of 40

Analytical Shapes Non-analytical Shapes Reference

The R-table Composite Shapes Incrementation Strategies

The R-table
Any shape is specied by the set of boundary points B = {xB } For a shape, dene p as: p = {x0 , s, } For each xB , compute r = x0 xB , and store as function of For each edge pixel x (with gradient direction (x)) in an image, obtain r from the table and update A(x + r)
i 0 1 2 ... i 0 2 ... Ri {r|x0 r = xB , xB B, (xB ) = 0} {r|x0 r = xB , xB B, (xB ) = } {r|x0 r = xB , xB B, (xB ) = 2} ...

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

33 of 40

Analytical Shapes Non-analytical Shapes Reference

The R-table Composite Shapes Incrementation Strategies

The R-table
Any shape is specied by the set of boundary points B = {xB } For a shape, dene p as: p = {x0 , s, } For each xB , compute r = x0 xB , and store as function of For each edge pixel x (with gradient direction (x)) in an image, obtain r from the table and update A(x + r)
i 0 1 2 ... i 0 2 ... Ri {r|x0 r = xB , xB B, (xB ) = 0} {r|x0 r = xB , xB B, (xB ) = } {r|x0 r = xB , xB B, (xB ) = 2} ...

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

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Analytical Shapes Non-analytical Shapes Reference

The R-table Composite Shapes Incrementation Strategies

Transformations of the R-table

Let R() be the R-table for a shape S Scale: Ts [R()] = sR()

Scale all the vectors r by s

Rotation: T [R()] = Rot{R[( )mod2], }

Change the indices to ( )mod2, nd corresponding vectors r and rotate them by

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

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Analytical Shapes Non-analytical Shapes Reference

The R-table Composite Shapes Incrementation Strategies

Hough transform for composite shapes

Let a shape S have two subparts S1 and S2 with respective reference points x0 , x0 , and x0 1 2 Compute r1 = x0 x0 and r2 = x0 x0 1 2 R-table for composite shape: Rs () = [Rs1 () + r1 ][Rs2 () + r2 ]

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

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Analytical Shapes Non-analytical Shapes Reference

The R-table Composite Shapes Incrementation Strategies

Hough transform for composite shapes

Let a shape S have two subparts S1 and S2 with respective reference points x0 , x0 , and x0 1 2 Compute r1 = x0 x0 and r2 = x0 x0 1 2 R-table for composite shape: Rs () = [Rs1 () + r1 ][Rs2 () + r2 ]

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

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Analytical Shapes Non-analytical Shapes Reference

The R-table Composite Shapes Incrementation Strategies

Hough transform for composite shapes

Let a shape S have two subparts S1 and S2 with respective reference points x0 , x0 , and x0 1 2 Compute r1 = x0 x0 and r2 = x0 x0 1 2 R-table for composite shape: Rs () = [Rs1 () + r1 ][Rs2 () + r2 ]

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

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Analytical Shapes Non-analytical Shapes Reference

The R-table Composite Shapes Incrementation Strategies

Incrementation Strategies

Increment the accumulator by a value depending on the gradient: A(p) = A(p) + g ( x) Increment by larger values if neighbouring points are incrementing the same reference point Try to nd progressively longer connected segments using dynamic programming Weigh dierent parts of a composite object dierently

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

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Analytical Shapes Non-analytical Shapes Reference

References

D. H. Ballard Generalizing the Hough Transform to Detect Arbitrary Shapes Pattern Recognition, 13(2):111-122, 1981. R. O. Duda and P. E. Hart Use of the Hough Transformation to Detect Lines and Curves in Pictures Communications of Association for Computing Machinery, 15(1):11-15, 1972.

CS658: Seminar on Shape Analysis and Retrieval

Hough Transform

40 of 40