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Imp - Kỹ Thuật SIFT Trong Phát Hiện Và Đánh Dấu Đối Tượng 2610201214355423
Imp - Kỹ Thuật SIFT Trong Phát Hiện Và Đánh Dấu Đối Tượng 2610201214355423
LA NGC TNG
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MC LC
MC LC ......................................................................................................... i
DANH MC K HIU V VIT TT ...................................................... iv
DANH MC CC HNH NH ..................................................................... v
PHN M U .............................................................................................. 1
Chng 1:
NH DU I TNG ............................................................................. 4
1.1. Khi qut v x l nh ........................................................................... 4
1.1.1. Cc khi nim c bn ...................................................................... 4
1.1.1.1. X l nh .................................................................................. 4
1.1.1.2. im nh .................................................................................. 5
1.1.1.3. nh ........................................................................................... 5
1.1.1.4. Mc xm ca nh ..................................................................... 5
1.1.1.5. phn gii ca nh ................................................................ 6
1.1.2. Cc bc x l nh s ..................................................................... 7
1.1.2.1. Thu nhn nh ............................................................................ 8
1.1.2.2. Tin x l ................................................................................. 8
1.1.2.3. Phn vng nh ........................................................................ 16
1.1.2.4. Trch chn c trng .............................................................. 17
1.1.2.5. Nhn dng v ni suy nh ...................................................... 18
1.1.2.6. Hu x l ................................................................................ 19
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STT
K hiu
vit tt
Vit y
ngha
Pixel
Picture Element
im nh
CGA
Ch ha mu
RLC
MPEG
2D
3D
Three-dimensional
space
SIFT
10
DoG
Deffirence of
Gaussisan
11
RANDSAC
RANDom Sample
Consensus
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DANH MC CC HNH NH
Hnh 1.1. Qu trnh x l nh ........................................................................... 4
Hnh 1.2. Cc bc c bn trong mt h thng x l nh ................................ 7
Hnh 1.3. S phn tch, x l nh v lu thng tin gia cc khi .......... 7
Hnh 1.4. nh thu nhn v nh mong mun ..................................................... 9
Hnh 1.5. Dn tng phn .......................................................................... 15
Hnh 1.6. Qu trnh hin th v chnh sa, lu tr nh thng qua DIB .......... 22
Hnh 1.7. S chuyn i gia cc m hnh biu din nh .............................. 23
Hnh 2.1. Xy dng mt th hin khng gian t l ......................................... 36
Hnh 2.2. Cc gi tr cc i v cc tiu ca cc nh DoG ............................ 37
Hnh 2.3. Cc giai on la chn cc im kha............................................ 40
Hnh 2.4. B m t im kha ........................................................................ 44
Hnh 3.1. V d v bi ton nhn dng i tng: xc nh xem i tng ... 49
trong nh (b) c trong nh (a) khng?............................................................. 49
Hnh 3.2. M hnh chc nng nhn dng i tng ....................................... 50
Hnh 3.3. .......................................................................................................... 52
Kt qu nhn dng ca nh cha nhiu i tng c hun luyn. ............. 52
Hnh 3.4. Kt qu nhn dng i tng b che khut mt phn. .................... 53
Hnh 3.5. Khng nhn dng c i tng................................................... 54
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PHN M U
Con ngi thu nhn thng tin t mi trng ngoi thng qua cc gic quan,
trong th gic ng vai tr quan trng nht trong qu trnh nhn thc. S pht
trin ca phn cng my tnh v phng din thu nhn, lu tr, x l v hin th v
vch ra nhiu nh hng mi cho s pht trin phn mm ni chung v lnh vc
x l nh ni ring. Cng vi k thut ha, x l nh ng vai tr quan trng
trong cc h thng tng tc ngi my.
Nhn dng i tng l mt bi ton in hnh ca lnh vc x l nh, vi
mc tiu gip cho my tnh c th nhn thc c mi trng ngoi ging nh con
ngi thng qua th gic. Bi ton ny c th c p dng trong vic pht hin,
nhn dng, theo di hay tm kim t ng cc i tng trong thc t, in hnh
nh vic gim st an ninh cho cc khu vc quan trng: ngn hng, khu vc chnh
tr, qun s...
Qu trnh nhn dng i tng t ng bao gm vic thu nhn d liu t cc
gic quan v tin x l, biu din d liu, nhn dng v a ra quyt nh. i vi
con ngi qu trnh ny din ra gn nh tc thi, nhng i vi my tnh th hot
ng ny tng i phc tp. Vi s h tr ca cc thit b thu nhn hnh nh hin
i cho ta cht lng hnh nh r nt, chn thc v i tng, nhng vn l lm
th no my tnh nhn bit c i tng trng nh th no, cc hnh dng khc
nhau, cc gc nhn khc nhau v kch thc ca i tng ra sao...
Mt s vn cn gii quyt ca bi ton nhn dng i tng khi p dng
vo thc t to ra nhng thch thc v gii thut cng nh yu cu v tc tnh
ton. c im chung ca tt c nhng ng dng l nhng c im c trng
cn thit thng l nhiu, khng th do chuyn gia xut, m phi c trch chn
da trn cc th tc phn tch d liu. Vi bi ton nhn dng i tng c rt
nhiu cch tip cn gii quyt, vi mi loi i tng li c mt phng php c
th p dng, nhng chng vn c nhng im chung. Mt trong s nhng
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1.1.1.2. im nh
im nh (Pixel) l mt phn t ca nh s ti to (x, y) vi xm
hoc mu nht nh. Kch thc v khong cch gia cc im nh c
chn thch hp sao cho mt ngi cm nhn s lin tc v khng gian v mc
xm (hoc mu) ca nh s gn nh nh tht. Mi phn t trong ma trn c
gi l mt phn t nh.
1.1.1.3. nh
nh s l tp hp cc im nh vi mc xm ph hp dng m t
nh gn ging vi nh tht.
nh c to nn t hng trm ngn cho n hng triu vung rt
nh - c coi l nhng nhn t ca bc nh v thng c bit di tn gi
l im nh. My tnh hay my in s dng nhng vung nh ny hin th
hay in ra bc nh. lm c iu my tnh hay my in chia mn hnh,
trang giy thnh mt mng li cha cc vung, sau s dng cc gi tr
cha trong file nh nh ra mu sc, sng ti ca tng pixel trong mng
li , l c s nh s c hnh thnh. Vic kim sot, nh ra a ch
theo mng li nh trn c gi l bit mapping v nh s cn c gi l
nh bitmap.
1.1.1.4. Mc xm ca nh
* nh ngha: Mc xm (grey level) ca im nh l cng sng ca n
c gn bng gi tr s ti im .
* Cc thang gi tr mc xm thng thng: 16, 32, 64, 128, 256 (Mc 256
l mc ph dng bi v trong k thut my tnh dng 1 byte (8 bit) biu
din mc xm: Mc xm dng mt byte biu din: 28=256 mc, tc l t gi
tr 0 n 255).
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1.1.2. Cc bc x l nh s
Mt h thng x l nh c s tng qut nh sau:
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nh thu nhn
nh mong mun
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(1.2)
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Ta c:
(1.3)
cho min
(1.4)
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(1.5)
(1.6)
a(k, l) : l ca s lc.
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Vi
v Nw l s im nh trong ca s lc W.
(1.9)
(1.10)
(1.11)
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(1.14)
Ta d dng nhn thy khi b =1, Hb chnh l nhn chp Ht1 (lc trung
bnh). hiu r hn bn cht kh nhiu cng ca cc b lc ny, ta vit li
phng trnh thu nhn nh di dng:
(1.15)
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Trong [m, n] l nhiu cng c phng sai 2n. Nh vy, theo cch
tnh ca lc trung bnh ta c:
(1.16)
Nh vy, nhiu cng trong nh gim i Nw ln.
c. Tng tng phn
Trc tin cn lm r khi nim tng phn. nh s l tp hp cc
im nh, m mi im nh c gi tr sng khc nhau. y, sng
mt ngi d cm nhn nh, song khng phi l quyt nh. Thc t ch ra
rng hai i tng c cng sng nhng t trn hai nn khc nhau s cho
cm nhn khc nhau. Nh vy, tng phn biu din s thay i sng
ca i tng so vi nn. Nh v c th hiu rng, tng phn l ni
ca im nh hay vng nh so vi nn. Vi nh ngha ny, nu nh c
tng phn km, ta c th thay i tu theo mun.
nh vi tng phn thp c th do iu kin sng khng hay
khng u, hoc do tnh khng tuyn tnh hay bin ng nh ca b cm nhn
nh. iu chnh li tng phn ca nh, ta iu chnh li bin trn
ton di hay trn di c gii hn bng cch bin i tuyn tnh bin u
vo (dng hm bin i l hm tuyn tnh) hay phi tuyn (hm m hay hm
lgart). Khi dng hm tuyn tnh cc dc , , phi chn ln hn mt
trong min cn dn. Cc tham s a v b (cc cn) c th chn khi xem xt
lc xm ca nh.
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, , 1
, , 1
nh kt qu trng vi nh
dn
gc tng phn
co tng phn
(1.17)
Gi m
Gi s ta c nh I c kch thc m n v s nguyn c. Khi , k thut
tng, gim c sng c th hin
for (i = 0; i < m; i + +)
for (j = 0; j < n; j + +)
I [i, j] = I [i, j] + c;
- Nu c > 0: nh sng ln
- Nu c < 0: nh ti i
d. Chnh mc xm
Nhm khc phc tnh khng ng u ca h thng gy ra. Thng
thng c hai hng tip cn:
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b. Biu din nh
nh trn my tnh l kt qu thu nhn theo cc phng php s ho
c nhng trong cc thit b k thut khc nhau. Qu trnh lu tr nh nhm
hai mc ch:
- Tit kim b nh
- Gim thi gian x l
Vic lu tr thng tin trong b nh c nh hng rt ln n vic hin
th, in n v x l nh c xem nh l mt tp hp cc im vi cng kch
thc nu s dng cng nhiu im nh th bc nh cng p, cng mn v
cng th hin r hn chi tit ca nh gi c im ny l phn gii.
Vic la chn phn gii thch hp tu thuc vo nhu cu s dng v
c trng ca mi nh c th, trn c s cc nh thng c biu din
theo hai m hnh c bn.
* M hnh Raster
y l cch biu din nh thng dng nht hin nay, nh c biu
din di dng ma trn cc im (im nh). Thng thu nhn qua cc thit
b nh camera, scanner. Tu theo yu cu thc th m mi im nh c
biu din qua mt hay nhiu bt.
M hnh Raster thun li cho hin th v in n. Ngy nay cng ngh
phn cng cung cp nhng thit b thu nhn nh Raster ph hp vi tc
nhanh v cht lng cao cho c u vo v u ra. Mt thun li cho vic
hin th trong mi trng Windows l Microsoft a ra khun dng nh DIB
(Device Independent Bitmap) lm trung gian. Hnh 1.4 th hnh quy trnh
chung hin th nh Raster thng qua DIB.
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1.2.2. nh du i tng
nh du l vn c ngha v kh nn c cc nh nghin cu v
my tnh ton rt quan tm. Mc ch ca nh du l thit lp s ph hp
ca cc i tng v cc phn ca i tng gia cc frame lin tip trong
Video. N l mt cng vic c ngha trong hu ht cc ng dng gim st
t vic n cung cp d liu gn kt theo thi gian v cc i tng chuyn
ng dng cho c vic lm tng kh nng ca cc bc x l thp nh
phn on chuyn ng v kh nng m rng d liu mc cao hn nh
phn tch hot ng v tha nhn cch hnh ng. nh du l mt cng vic
kh khn ng dng trong cc v tr chng cho do cc i tng phn on
khng ng. Cc vn chung ca vic phn on khng ng l cc bng
di, cc phn ring l v tnh trng b chng cho ca cc i tng vi mi
i tng khc v vi phn t ng yn trong cnh . Nh vy, vic i ph
vi bng bc pht hin chuyn ng v vic bt c cc phn b che
khut c bc phn on v bc nh du l rt quan trng cho s nh
du ng n.
nh du trong Video c th c phn bit theo s cn thit ca cc
ng dng s dng n hoc theo cc phng php s dng gii quyt.
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f : A B; A, B P
(2.1)
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d ( x*, xn )
qn
d (x , x )
1 q 1 0
(2.2)
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Tng ng:
d ( x*, xn1)
V
q
d ( xn1, xn )
1 q
(2.3)
d ( x*, xn1) qd ( xn , x* )
(2.4)
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( p1 q1 )2 ( p2 q2 )2 ... ( pn qn )2
( pi qi )2
i 1
(2.5)
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DM ( x) ( x )T 1 ( x )
(2.6)
khng ng dng gia hai vect ngu nhin x v y ca cng phn phi vi
ma trn ng bin :
d ( x , y ) ( x y )T 1 ( x y )
(2.7)
d ( x, y)
i 1
( xi yi )2
i2
(2.8)
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(2.9)
G( x, y, )
1
2
e ( x
2
y 2 ) / 2 2
(2.10)
D( x, y, ) (G( x, y, k ) G( x, y, )) I ( x, y)
L( x, y, k ) L( x, y, )
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(2.11)
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s dng php ni suy tuyn tnh trc khi xy dng mc u tin ca hnh
chp. Khi php ton tng ng c th c thc thi mt cch hiu qu
bng vic s dng cc b lc khong trng subpixel trn nh gc, th vic gp
i nh dn n s thc thi c hiu qu hn. Gi s rng nh gc c mt vt
m ti thiu 0.5 v v vy, nh c gp i c 1.0 lin quan ti
khong cch im nh mi ca n. iu ny c ngha l cn lm trn mt
cht trc khi to ra qung u tin ca khng gian t l. Vic nhn i nh
lm tng s lng cc im kha n nh bi mt tha s l 4, nhng cha
tm thy cc ci tin ng k hn na i vi tha s m rng ln hn.
2.2.2. nh v chnh xc im kha (Keypoint localization)
Mt khi mt im kha ng c c tm thy bng vic so snh mt im
nh vi cc lng ging ca n, th bc tip theo l thc hin iu chnh chi tit
vi d liu ln cn cho v tr, t l, v t l ca cc cong ch yu. Thng tin ny
cho php loi b cc im c tng phn thp hoc c nh v km dc bin.
Thc thi ban u ca hng tip cn ny nh v mt cch n gin
cc im kha v tr v t l ca im mu trung tm. Tuy nhin, gn y
ngi ta s dng mt phng php khc l lm ph hp mt hm bc hai
3D cho cc im mu a phng xc nh v tr ni suy ca im cc i,
v cc th nghim cho thy rng phng php ny mang li s ci tin
ng k cho vic so khp v n nh. Phng php ny s dng php khai
trin Taylor (ti a l dng bc hai) ca hm khng gian t l, D(x,y,), c
thay i nh gc v tr im mu: [5,6,7]
D(x) D
DT
1 2 D
x xT 2 x
x
2
x
(2.12)
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Trong D v cc o hm ca n c nh gi im mu v
2 D 1 D
x
x 2 x
(2.13)
nh gc vi 233189 im nh.
(b)
729 im kha.
(d)
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thc hin php ni suy thay cho im . Offset cui cng x c cng thm
v hng v tr im mu ca n c c s c lng ni suy cho v tr
ca cc tr .
1 DT
D(x) D
x
2 x
(2.14)
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Dxy Dyy
(2.15)
(2.16)
Tr(H)2 ( )2 (r )2 (r 1)2
Det(H)
r 2
r
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(2.17)
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Biu thc (r+1)2/r nhn gi tr cc tiu khi hai gi tr ring bng nhau
v n tng cng vi r. V vy, kim tra xem t l ca cc cong ch yu
c di mt ngng r no khng, ta ch cn kim tra:
Tr(H)2 (r 1)2
Det(H)
r
(2.18)
(2.19)
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Image gradients
Keypoint descriptor
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(a)
(b)
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nh u vo
nh hun luyn
So snh tng t
nh kt qu (nh c khoanh
vng i tng cn nhn dng)
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(a)
(b)
(c)
Hnh 3.3.
Kt qu nhn dng ca nh cha nhiu i tng c hun luyn.
(a) nh truy vn cha nhiu i tng;
(b) nh hun luyn;
(c) Kt qu nhn dng.
Hnh 3.3 th hin kt qu nhn dng i tng, nh (a) cc i tng
c thu nhn trn mt nn tng i r rng nn vic trch chn v so khp
c trng c tin hnh khng my kh khn v chnh xc tng i cao,
hn na gc nhn ca i tng cn nhn dng trong c hai ging nhau ch
khc nhau v t l.
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(a)
(b)
(c)
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* Nhn xt:
Thut ton ny c nh gi l kh hiu qu trong vic trch chn c
trng phc v cho vic nhn dng i tng, c bit khi cc nh c thu
nhn c t l khc nhau hoc cc i tng trong nh c t cc gc nhn
khc nhau. Tuy nhin trong qu trnh ci t thut ton vn cha x l c
trng hp i tng cn nhn dng b che khut mt s b phn hoc b thay
i gc nhn, t l qu ln.
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PHN KT LUN
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- Ngoi ra, trong qu trnh nghin cu ti cng t tch ly thm cho mnh
cc kin thc v ton hc, v k thut lp trnh,V quan trng l rn luyn
k nng thc hin mt nghin cu khoa hc. Tuy mi ch l bc u,
nhng nhng kt qu ny s gip ch cho ti trong nhng nghin cu sau ny
thu c nhng kt qu tt hn.
Mt s vn cn tip tc gii quyt:
- Cc nh c thu nhn c s khc nhau ng k v t l, gc nhn, i
tng cn nhn dng b che khut kh nhiu.
- nh cha cc i tng cn nhn dng b thay i sng, tng
phn.Cc nh chu php bin i affine ln.
Trong qu trnh thc hin lun vn tt nghip, bn thn ti cng rt
n lc, c gng, u t nhiu thi gian, cng sc cho vic tm hiu nghin cu
ti di s nh hng tn tnh ca thy gio PGS.TS. Nng Ton. Tuy
nhin, do hn ch v mt kin thc ca bn thn, thi gian cng nh cc
ngun ti liu, nn lun vn cha c hon ho, cn nhiu thiu st. Knh
mong cc thy c gio cng nh cc bn ng nghip ch bo v gip .
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[2]
[3]
[4]
[5]
Brown M. and Lowe D.G 2002, Invariant features from interest point
groups, In The 13th British Machine Vision Conference, Cardiff
University, UK.
[6]
David Lowe, 1999, The SIFT (Scale Invariant Feature Transform) Detector
and Descriptor, University of British Columbia.
[7]
http://en.wikipedia.org/wiki/Scale-invariant_feature_transform
[8]
http://opencv.willowgarage.com/wiki/
[9]
http://en.wikipedia.org/wiki/Computer_vision
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