Vision Algorithms: Theory and Practice: International Workshop on Vision Algorithms Corfu, Greece, September 21–22, 1999 Proceedings

393 Pages·2000·5.89 MB·English

by  Richard Szeliski

Lecture Notes in Computer Science 1883
EditedbyG.Goos,J.HartmanisandJ.vanLeeuwen
3
Berlin
Heidelberg
NewYork
Barcelona
HongKong
London
Milan
Paris
Singapore
Tokyo
Bill Triggs Andrew Zisserman
Richard Szeliski (Eds.)
Vision Algorithms:
Theory and Practice
International Workshop on Vision Algorithms
Corfu, Greece, September 21-22, 1999
Proceedings
1 3
SeriesEditors
GerhardGoos,KarlsruheUniversity,Germany
JurisHartmanis,CornellUniversity,NY,USA
JanvanLeeuwen,UtrechtUniversity,TheNetherlands
VolumeEditors
BillTriggs
INRIARhoˆne-Alpes
655avenuedel’Europe,Montbonnot38330,France
E-mail:[email protected]
AndrewZisserman
OxfordUniversity,DepartmentofEngineeringScience
19ParksRoad,OX13PJ,UK
E-mail:[email protected]
RichardSzeliski
MicrosoftResearch
Redmond,WA98052-6399,USA
E-mail:[email protected]
Cataloging-in-PublicationDataappliedfor
DieDeutscheBibliothek-CIP-Einheitsaufnahme
Visionalgorithms:theoryandpractice;proceedings/International
WorkshoponVisionAlgorithms,Corfu,Greece,September21-22,1999.
BillTriggs...(ed.).-Berlin;Heidelberg;NewYork;Barcelona;
HongKong;London;Milan;Paris;Singapore;Tokyo:Springer,2000
(Lecturenotesincomputerscience;Vol.1883)
ISBN3-540-67973-1
CRSubjectClassification(1998):I.4,I.3,I.5,F.2
ISSN0302-9743
ISBN3-540-67973-1Springer-VerlagBerlinHeidelbergNewYork
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Preface
This volume contains the final versions of papers originally given at the workshop
Vision Algorithms: Theory and Practice, which was held on 21–22 September 1999
duringtheSeventhInternationalConferenceonComputerVisionattheCorfuHoliday
PalaceHotelinKanoni,Corfu,Greece.
Thesubjectoftheworkshopwasalgorithmicissuesincomputervision,andespe-
cially in vision geometry: correspondence, tracking, structure and motion, and image
synthesis.Boththeoreticalandpracticalaspectswereconsidered.Aparticulargoalwas
totakestockofthe‘newwave’ofgeometricandstatisticaltechniquesthathavebeen
developedoverthelastfewyears,andtoaskwhichoftheseareprovingusefulinreal
applications.Toencouragediscussion,weaskedthepresenterstostandbackfromtheir
workandreflectonitscontextandlongertermprospects,andweencouragedtheaudi-
encetoactivelycontributequestionsandcomments.Thecurrentvolumeretainssomeof
theflavourofthis,aseachpaperisfollowedbyabriefeditedtranscriptofthediscussion
thatfolloweditspresentation.
Thethemewascertainlytopical,aswehad65submittedpapersforonly15places(an
acceptancerateofonly23%),andaround100registeredparticipantsinall(nearly1/3of
theICCVregistration).Withsomanysubmissions,thereweresomedifficultdecisionsto
make,andourreviewersdeservemanythanksfortheirthoroughnessandsoundjudgment
inpaperevaluation.Asseveralauthorscommented,theoverallqualityofthereviewswas
exceptionallyhigh.Theacceptedpapersspanthefullrangeofalgorithmsforgeometric
vision,andwethinkthattheirqualitywillspeakforitself.
Tocomplementthesubmittedpapers,wecommissionedtwoinvitedtalks“fromthe
shopfloor”,two“expertreviews”ontopicaltechnicalissues,andapanelsession.
The invited talks were by two industry leaders with a great deal of experience in
buildingsuccessfulcommercialvisionsystems:
– KeithHannaoftheSarnoffCorporationdescribedSarnoff’srealtimevideoalign-
mentandannotationsystems,whichareusedroutinelyinapplicationsrangingfrom
military reconnaissance to inserting advertisements and annotations on the Super
Bowlfield.ThisworkispresentedinthepaperAnnotationofVideobyAlignment
toReferenceImageryonpage253).
– Luc Robert of REALViZ S.A. described REALViZ’s MatchMover and ReTimer
post-productionsystemsformoviespecialeffects,whichareusedinanumberof
largepost-productionhouses.Unfortunatelythereisnopaperforthispresentation,
butthediscussionthatfolloweditissummarizedonpage265.
Bothpresenterstriedtogiveussomeofthefruitsoftheirexperienceinthedifficultart
of“makingitwork”,illustratedbyexamplesfromtheirownsystems.
The two “expert reviews” were something of an experiment. Each was a focused
technical summary prepared jointly by a small team of people that we consider to be
domainexperts.Ineachcase,theaimwastoprovideaconcisetechnicalupdateandstate
VI Preface
oftheart,andthentodiscusstheadvantagesofthevariousimplementationchoicesin
alittlemoredepth.
Themotivationforthesereviewsessionswasasfollows.Asactivemembersofthe
vision community and referees of many papers, we continually find that certain basic
topicsarepoorlyunderstood.Thisappliesparticularlytoareaswhereaculturalsplithas
occurred,withtwoormorecampsfollowingmoreorlessseparatelinesofdevelopment.
Thereareseveralsuchsplitsinthevisioncommunity,andwefeelthateveryeffortmust
be made to heal them. For one thing, it is fruitless for one group to reduplicate the
successesandfailuresofanother,ortocontinuewithalineofresearchthatothersknow
tobeunprofitable.Morepositively,intercommunicationbreedsinnovation,anditisoften
at the boundaries between fields that the most rapid progress is made. The workshop
as a whole was intended to take stock of the rapid progress made in vision geometry
overthepastdecade,andhopefullytonarrowthegapbetween“thegeometers”and“the
rest”.Withinthisscope,wesingledoutthefollowingtwoareasforspecialtreatment:(i)
the choice between direct and feature-based correspondence methods; and (ii) bundle
adjustment.
Directversusfeature-basedcorrespondencemethods: Oneofthesignificantsplits
thathasemergedinthevisioncommunityoverthepast15–20yearsisintheanalysisof
imagesequencesandmulti-viewimagesets.Twoclassesoftechniquesareused:
– “Feature-based”approaches:Here,theproblemisbrokendownintothreestages:
(i) localgeometricfeaturesareextractedfromeachimage(e.g.“pointsofinterest”,
linearedges... );(ii)thesefeaturesareusedtocomputemulti-viewrelations,such
astheepipolargeometry,andsimultaneouslyareputintocorrespondencewithone
anotherusingarobustsearchmethod;(iii)theestimatedmulti-viewrelationsand
correspondencesareusedforfurthercomputationssuchasrefinedcorrespondences,
3Dstructurerecovery,planerecoveryandalignment,movingobjectdetection,etc.
– “Direct”approaches:Here,ratherthanextractingisolatedfeatures,densespatio-
temporal variations of image brightness (or color, texture, or some other dense
descriptor)areuseddirectly.Insteadofacombinatorialsearchoverfeaturecorre-
spondences, there is a search over the continuous parameters of an image motion
model(translation,2Daffine,homographic),thatinprincipleestablishesdensecor-
respondencesaswellasmotionparameters.Often,amulti-scalesearchisused.
The experts in this session were P. Anandan & Michal Irani, who present the direct
approach in the paper About Direct Methods on page 267, and Phil Torr & Andrew
Zisserman,whopresentthefeature-basedapproachinthepaperFeatureBasedMethods
forStructureandMotionEstimationonpage278.Ineachcase,theauthorstry:(i) togive
abrief,cleardescriptionofthetwoclassesofmethods;(ii)toidentifytheapplications
in which each has been most successful; and (iii) to discuss the limitations of each
approach.Thediscussionthatfollowedthesessionissummarizedonpage295.
Bundle adjustment for visual reconstruction: Bundle adjustment is the refinement
ofvisualreconstructionsbysimultaneousoptimizationoverbothstructureandcamera
parameters. It was initially developed in the late 1950’s and 1960’s in the aerial pho-
togrammetrycommunity,wherealreadyby1970extremelyaccuratereconstructionof
Preface VII
networksofthousandsofimageswasfeasible.Thecomputervisioncommunityisonly
nowstartingtoconsiderproblemsofthissize,andisstilllargelyignorantofthetheory
andmethodsofbundleadjustment.Inpartthisisbecauseculturaldifferencesmakethe
photogrammetryliteraturerelativelyinaccessibletomostvisionresearchers,sooneaim
of this session was to present the basic photogrammetric techniques from a computer
visionperspective.TheissuesraisedinthesessionarereportedinthesurveypaperBun-
dleAdjustment—AModernSynthesis onpage298.Thispaperisratherlong,butwe
publishitinthehopethatitwillbeusefultothecommunitytohavethemainelements
ofthetheorycollectedinoneplace.
Theworkshopendedwithanopenpanelsession,withRichardHartley,P.Anandan,
JitendraMalik,JoeMundyandOlivierFaugerasaspanelists.Eachpanelistselecteda
topicrelatedtotheworkshopthemethathefeltwasimportant,andgaveashortposition
statement on it followed by questions and discussion. The panel finished with more
generaldiscussion.Abriefsummaryofthediscussionandtheissuesraisedbythepanel
isgivenonpage376.
Finally,wewouldliketothankthemanypeoplewhohelpedtoorganizetheworkshop,
andwithoutwhomitwouldnothavebeenpossible.Thescientifichelpersarelistedonthe
followingpages,butthanksmustalsogoto:JohnTsotsos,thechairmanofICCV’99,
for his help with the logistics and above all for hosting a great main conference; to
Mary-Kate Rada and Maggie Johnson of the IEEE Computer Society, and to Danie`le
Herzog of INRIA for their efficient organizational support; to the staff of the Corfu
HolidayPalaceforsomememorablecatering;andtoINRIARhoˆne-AlpesandtheIEEE
ComputerSocietyforagreeingtoactassponsors.
June2000 BillTriggs,AndrewZissermanandRichardSzeliski
VIII Organization
WorkshopOrganizers
BillTriggs INRIARhoˆne-Alpes,Grenoble,France
AndrewZisserman Dept.ofEngineeringScience,OxfordUniversity
RichardSzeliski MicrosoftResearch,Redmond,WA
Sponsors
INRIARhoˆne-Alpes
IEEEComputerSociety
ProgramCommittee
MichaelBlack MichalIrani HarpreetSawhney
StefanCarlsson PhilipMcLauchlan AmnonShashua
OlivierFaugeras SteveMaybank ChrisTaylor
AndrewFitzgibbon JohnOliensis PhilTorr
WolfgangFo¨rstner ShmuelPeleg LucVanGool
PascalFua JeanPonce ThierryVie´ville
GregHager LongQuan ZhengyouZhang
RichardHartley IanReid Kalle˚Astro¨m
InvitedSpeakers
KeithHanna SarnoffCorporation,Princeton,NJ
LucRobert REALViZS.A.,SophiaAntipolis,France
Panelists
P.Anandan RichardHartley JoeMundy
OlivierFaugeras JitendraMalik
AdditionalReviewers
PeterBelhumeur JohnIllingworth CordeliaSchmid
IngemarCox MichaelIsard SteveSeitz
PatrickGros BartLamiroy HarryShum
RaduHoraud JitendraMalik RaminZabih
PeterMeer
ReviewHelpers
YaronCaspi YanlinGuo GarbisSalgian
AthosGeorghiades SteveHsu PeterSturm
JacobGoldberger RobertMandelbaum HaiTao
BogdanMatei
StudentHelpersandSessionTranscripts
EricHayman AntonioCriminisi GeoffCross JossKnight
Table of Contents
CorrespondenceandTracking
AnExperimentalComparisonofStereoAlgorithms ........................ 1
R.Szeliski(MicrosoftResearch,Redmond,WA),R.Zabih(CornellUniversity,
Ithaca,NY)
AGeneralMethodforFeatureMatchingandModelExtraction ............... 20
C.F.Olson(JetPropulsionLaboratory,Pasadena,CA)
CharacterizingthePerformanceofMultiple-ImagePoint-Correspondence
AlgorithmsUsingSelf-Consistency ..................................... 37
Y.G.Leclerc,Q.-T.Luong(SRIInternational,MenloPark,CA),
P.Fua(EPFL,Lausanne,Switzerland)
ASamplingAlgorithmforTrackingMultipleObjects....................... 53
H.Tao,H.S.Sawhney,R.Kumar(SarnoffCorporation,Princeton,NJ)
Real-TimeTrackingofComplexStructuresforVisualServoing............... 69
T.Drummond,R.Cipolla(UniversityofCambridge,UK)
GeometryandReconstruction
DirectRecoveryofPlanar-ParallaxfromMultipleFrames ................... 85
M.Irani(WeizmannInstitute,Rehovot,Israel),P.Anandan(Microsoft
Research,Redmond,WA),M.Cohen(WeizmannInstitute)
GeneralizedVoxelColoring ........................................... 100
W.B.Culbertson,T.Malzbender(Hewlett-PackardLaboratories,PaloAlto),
G.Slabaugh(GeorgiaInstituteofTechnology)
ProjectiveReconstructionfromNViewsHavingOneViewinCommon ........ 116
M.Urban,T.Pajdla,V.Hlava´cˇ (CzechTechnicalUniversity,Prague)
Point-andLine-BasedParameterizedImageVarietiesforImage-BasedRendering 132
Y.Genc(SiemensCorporateResearch,Princeton),JeanPonce(University
ofIllinois)
RecoveryofCircularMotionfromProfilesofSurfaces...................... 149
P.R.S.Mendonc¸a,K.-Y.K.Wong,R.Cipolla(UniversityofCambridge,UK)
OptimalReconstruction
OptimizationCriteria,SensitivityandRobustnessofMotion
andStructureEstimation.............................................. 166
J.Kosˇecka´ (GeorgeMasonUniversity,Fairfax,VA),Y.Ma,S.Sastry
(UniversityofCaliforniaatBerkeley)
X TableofContents
GaugeIndependenceinOptimizationAlgorithmsfor3DVision .............. 183
P.F.McLauchlan(UniversityofSurrey,Guildford,UK)
UncertaintyModelingforOptimalStructurefromMotion ................... 200
D.D.Morris(CarnegieMellonUniversity),K.Kanatani(GunmaUniversity,
Japan),T.Kanade(CarnegieMellonUniversity)
ErrorCharacterizationoftheFactorizationApproach
toShapeandMotionRecovery ........................................ 218
Z.Sun(UniversityofRochester),V.Ramesh(SiemensCorporateResearch),
A.M.Tekalp(UniversityofRochester)
BootstrappingErrors-in-VariablesModels ............................... 236
B.Matei,P.Meer(RutgersUniversity,Piscataway,NJ)
InvitedTalks
AnnotationofVideobyAlignmenttoReferenceImagery.................... 253
K.J.Hanna,H.S.Sawhney,R.Kumar,Y.Guo,S.Samarasekara
(SarnoffCorporation,Princeton)
Computer-VisionforthePost-productionWorld:
FactsandChallengesthroughtheREALViZExperience..................... 265
L.Robert(REALViZS.A.,SophiaAntipolis,France)
SpecialSessions
AboutDirectMethods................................................ 267
M.Irani(WeizmannInstitute,Rehovot,Israel),P.Anandan(Microsoft
Research,Redmond,WA)
FeatureBasedMethodsforStructureandMotionEstimation ................. 278
P.H.S.Torr(MicrosoftResearch,Cambridge,UK),A.Zisserman(University
ofOxford,UK)
DiscussionforDirectversusFeaturesSession ............................. 295
BundleAdjustment—AModernSynthesis .............................. 298
B.Triggs(INRIARhoˆne-Alpes,Montbonnot,France),P.F.McLauchlan
(University of Surrey, Guildford, UK), R.I. Hartley (General Electric CRD,
Schenectady,NY),A.W.Fitzgibbon(UniversityofOxford,Oxford,UK)
DiscussionforSessiononBundleAdjustment............................. 373
SummaryofthePanelSession ......................................... 376
P.Anandan(MicrosoftResearch,Redmond,WA),O.Faugeras(INRIA
Sophia-Antipolis, France), R. Hartley (General Electric CRD, Schenectady,
NY),J.Malik(UniversityofCalifornia,Berkeley),J.Mundy(GeneralElectric
CRD,Schenectady,NY)
AuthorIndex.................................................... 383