Description
1 Lucas-Kanade Tracking In this section you will be implementing a simple Lucas & Kanade tracker with one single template. In the scenario of two-dimensional tracking with a pure translation warp function, W(x; p) = x + p . (1) The problem can be described as follows: starting with a rectangular neighborhood of pixels N 2 {xd}D d=1 on frame It, the Lucas-Kanade tracker aims to move it by an offset p = [px, py] T to obtain another rectangle on frame It+1, so that the pixel squared difference in the two rectangles is minimized: p⇤ = arg minp = X x2N ||It+1(x + p) It(x)||2 2 (2) = 2 6 4 It+1(x1 + p) . . . It+1(xD + p) 3 7 5 2 6 4 It(x1) . . . It(xD) 3 7 5 2 2 (3) Q1.1 (5 points) Starting with an initial guess of p (for instance, p = [0, 0]T ), we can compute the optimal p⇤ iteratively. In each iteration, the objective function is locally linearized by first-order Taylor expansion, It+1(x0 + p) ⇡ It+1(x0 ) + @It+1(x0 ) @x0T @W(x; p) @pT p (4) where p = [px, py] T , is the template offset. Further, x0 = W(x; p) = x + p and @I(x0 ) @x0T is a vector of the x and y image gradients at pixel coordinate x0 . In a similar manner to Equation 3 one can incorporate these linearized approximations into a vectorized form such that, arg min p ||Ap b||2 2 (5) such that p p + p at each iteration. 1. What is @W(x;p) @pT ? 2. What is A and b? 3. What conditions must AT A meet so that a unique solution to p can be found? Q1.2 (15 points) Implement a function with the following signature LucasKanade(It, It1, rect, p0 = np.zeros(2)) in filename ”LucasKanade.py” that computes the optimal local motion from frame It to frame It+1 that minimizes Equation 3. Here It is the image frame It, It1 is the image frame It+1, rect is the 4-by-1 vector that represents a rectangle describing all the pixel coordinates within N within the image frame It, and p0 is the initial parameter guess (x, y). The four components of the rectangle are [x1, y1, x2, y2] T , where [x1, y1] T is the top-left corner and [x2, y2] T is the bottom-right corner. The rectangle is inclusive, i.e., it includes all the four corners. To deal with fractional movement of the template, you will need to interpolate the image using the Scipy module ndimage.shift or something similar. You will also need to iterate the estimation until the change in ||p||2 2 is below a threshold. In order to perform interpolation you might find RectBivariateSpline from the scipy.interpolate package. Read the documentation of defining the spline ( RectBivariateSpline) as well as evaluating the spline using RectBivariateSpline.ev carefully. Q1.3 (10 points) Write a script testCarSequence.py that loads the video frames from carseq.npy, and runs the Lucas-Kanade tracker that you have implemented in the previous task to track the car. carseq.npy can be located in the data directory and it contains one single three-dimensional matrix: the first two dimensions correspond to the height and width of the frames respectively, and the third dimension contain the indices of the frames (that is, the first frame can be visualized with imshow(frames[:, :, 0])). The rectangle in the first frame is 2 [x1, y1, x2, y2] T = [59, 116, 145, 151]T . Report your tracking performance (image + bounding rectangle) at frames 1, 100, 200, 300 and 400 in a format similar to Figure 1. Also, create a file called carseqrects.npy, which contains one single n ⇥ 4 matrix, where each row stores the rect that you have obtained for each frame, and n is the total number of frames. You are encouraged to play with the parameters defined in the scripts and report the best results. Similarly, write a script testGirlSequence.py that loads the video from girlseq.npy and runs your LucasKanade tracker on it. The rectangle in the first frame is [x1, y1, x2, y2] T = [280, 152, 330, 318]T . Report your tracking performance (image + bounding rectangle) at frames 1, 20, 40, 60 and 80 in a format similar to Figure 1. Also, create a file called girlseqrects.npy, which contains one single n ⇥ 4 matrix, where each row stores the rect that you have obtained for each frame. Figure 1: Lucas-Kanade Tracking with One Single Template Q1.4 (20 points) As you might have noticed, the image content we are tracking in the first frame differs from the one in the last frame. This is understandable since we are updating the template after processing each frame and the error can be accumulating. This problem is known as template drifting. There are several ways to mitigate this problem. Iain Matthews et al. (2003, https://www.ri.cmu.edu/publication_view.html?pub_id=4433) suggested one possible approach (refer to section 2.1 and implement equation-3 from the paper using strategy3). Write two scripts with a similar functionality to Q1.3 but with a template correction routine incorporated: testCarSequenceWithTemplateCorrection.py and testGirlSequenceWithTemplateCorrection.py. Save the rects as carseqrects-wcrt.npy and girlseqrects-wcrt.npy, and also report the performance at those frames. An example is given in Figure 2. Again, you are encouraged to play with the parameters defined in the scripts to see how each parameter affects the tracking results. Figure 2: Lucas-Kanade Tracking with Template Correction Here the blue rectangles are created with the baseline tracker in Q1.3, the red ones with the tracker in Q1.4. The tracking performance has been improved non-trivially. Note that you do not necessarily have to draw two rectangles in each frame, but make sure that the performance improvement can be easily visually inspected. 3 2 Affine Motion Subtraction In this section, you will implement a tracker for estimating dominant affine motion in a sequence of images and subsequently identify pixels corresponding to moving objects in the scene. You will be using the images in the file aerialseq.npy, which consists of aerial views of moving vehicles from a non-stationary camera. 2.1 Dominant Motion Estimation In the first section of this homework we assumed the the motion is limited to pure translation. In this section you shall implement a tracker for affine motion using a planar affine warp function. To estimate dominant motion, the entire image It will serve as the template to be tracked in image It+1, that is, It+1 is assumed to be approximately an affine warped version of It. This approach is reasonable under the assumption that a majority of the pixels correspond to the stationary objects in the scene whose depth variation is small relative to their distance from the camera. Using a planar affine warp function you can recover the vector p = [p1,…,p6] T , x0 = W(x; p) = 1 + p1 p2 p4 1 + p5 x y + p3 p6 . (6) One can represent this affine warp in homogeneous coordinates as, x˜0 = Mx˜ (7) where, M = 2 4 1 + p1 p2 p3 p4 1 + p5 p6 0 01 3 5 . (8) Here M represents W(x; p) in homogeneous coordinates as described in [1]. Also note that M will differ between successive image pairs. Starting with an initial guess of p = 0 (i.e. M = I) you will need to solve a sequence of least-squares problem to determine p such that p ! p + p at each iteration. Note that unlike previous examples where the template to be tracked is usually small in comparison with the size of the image, image It will almost always not be contained fully in the warped version It+1. Hence, one must only consider pixels lying in the region common to It and the warped version of It+1 when forming the linear system at each iteration. Q2.1 (15 points) Write a function with the following signature LucasKanadeAffine(It, It1) in filename LucasKanadeAffine.py which returns the affine transformation matrix M, and It and It1 are It and It+1 respectively. LucasKanadeAffine should be relatively similar to LucasKanade from the first section (you will probably also find scipy.ndimage.affine transform helpful). 2.2 Moving Object Detection Once you are able to compute the transformation matrix M relating an image pair It and It+1, a naive way for determining pixels lying on moving objects is as follows: warp the image It using M so that it is registered to It+1 and subtract it from It+1; the locations where the absolute difference exceeds a threshold can then be declared as corresponding to locations of moving objects. To obtain better results, you can check out the following scipy.morphology functions: binary erosion, and binary dilation. Q2.2 (10 points) Using the function you have developed for dominant motion estimation, write a function with the following signature SubtractDominantMotion(image1, image2) in filename SubtractDominantMotion.py where image1 and image2 form the input image pair, and the return value mask is a binary image of the same size that dictates which pixels are considered to be corresponding to moving objects. You should invoke LucasKanadeAffine in this function to derive the transformation matrix M, and produce the aforementioned binary mask accordingly. 4 Figure 3: Lucas-Kanade Tracking with Motion Detection Q2.3 (10 points) Write two scripts testAntSequence.py and testAerialSequence.py that load the image sequence from antseq.npy and aerialseq.npy and run the motion detection routine you have developed to detect the moving objects. Try to implement testAntSequence.py first as it involves little camera movement and can help you debug your mask generation procedure. Report the performance at frames 30, 60, 90 and 120 with the corresponding binary masks superimposed, as exemplified in Figure 3. Feel free to visualize the motion detection performance in a way that you would prefer, but please make sure it can be visually inspected without undue effort. 3 Efficient Tracking 3.1 Inverse Composition The inverse compositional extension of the Lucas-Kanade algorithm (see [1]) has been used in literature to great effect for the task of efficient tracking. When utilized within tracking it attempts to linearize the current frame as, It(W(x; 0 + p) ⇡ It(x) + @It(x) @xT @W(x; 0) @pT p . (9) In a similar manner to the conventional Lucas-Kanade algorithm one can incorporate these linearized approximations into a vectorized form such that, arg min p ||A0 p b0 ||2 2 (10) for the specific case of an affine warp where p M and p M this results in the update M = M(M)1. Just to clarify, the notation M(M)1 corresponds to W(W(x; p)1; p) in Section 2.2 from [2]. Q3.1 (10 points) Reimplement the function LucasKanadeAffine(It,It1) as InverseCompositionAffine(It,It1) in filename InverseCompositionAffine.py using the inverse compositional method. Similar to Q2.3, please visualize motion detection either from antseq.npy or from aerialseq.npy. Q3.2 (5 points) In your own words please describe why the inverse compositional approach is more computationally efficient than the classical approach. 4 Deliverables The assignment (code and writeup) should be submitted to Gradescope and Canvas. The writeup should be submitted to Gradescope named hw2.pdf. The code should be submitted as a zip named hw2.zip to both Gradescope and Canvas. The zip when uncompressed should produce the following files. • LucasKanade.py • LucasKanadeAffine.py • SubtractDominantMotion.py 5 • InverseCompositionAffine.py • testCarSequence.py • testCarSequenceWithTemplateCorrection.py • testGirlSequence.py • testGirlSequenceWithTemplateCorrection.py • testAntSequence.py • testAerialSequence.py • carseqrects.npy • carseqrects-wcrt.npy • girlseqrects.npy • girlseqrects-wcrt.npy *Do not include the data directory in your submission. 5 Frequently Asked Questions (FAQs) Q1: Why do we need to use ndimage.shift or RectBivariateSpline for moving the rectangle template? A1: When moving the rectangle template with p, you can either move the points inside the template or move the image in the opposite direction. If you choose to move the points, the new points can have fractional coordinates, so you need to use RectBivariateSpline to sample the image intensity at those fractional coordinates. If you instead choose to move the image with ndimage.shift, you don’t need to move the points and you can sample the image intensity at those points directly. The first approach could be faster since it does not require moving the entire image. Q2: What’s the right way of computing the image gradients Ix(x) and Iy(x). Should I first sample the image intensities I(x) at x and then compute the image gradients Ix(x) and Iy(x) with I(x)? Or should I first compute the entire image gradients Ix and Iy and sample them at x? A2: The second approach is the correct one. Q3: Can I use pseudo-inverse the least-squared problem arg minp ||Ap b||2 2? A3: Yes, the pseudo-inverse solution of Ap = b is also p = (AT A)1AT b when A has full column ranks, i.e., the linear system is overdetermined. Q4: For inverse compositional Lucas Kanade, how to deal with points outside out the image? A4: Since the Hessian in inverse compositional Lucas Kanade is precomputed, we cannot simply remove points when they are outside the image since it can result in dimension mismatch. However, we can set the error It+1(W(x; p)) It(x) to 0 for x outside the image. Q5: How to find pixels common to both It1 and It? A5: If the coordinates of warped It1 is within the range of It.shape, then we consider the pixel lies in the common region. Note for Q1.4: Please be wary that we define p in the writeup to be the shift from the template rectangle. However, in the code for your LK function p0 is defined as the shift from the passed in variable rect. Therefore, when pass in a rectangle that isn’t the template rectangle like the initial frame rectangle in the 2nd LK stage, then you should be passing in p plus a shift that accounts for the difference in rectangle coordinates. Note for Q2.2: When warping using the Affine Transformation function (cv2.warpAffine or scipy.ndimage.affine transfread the function documentation carefully on whether M or M1 needs to be passed to the function. 6 Note for Q3.1: M = 2 4 1 + p1 p2 p3 p4 1 + p5 p6 0 01 3 5 6 Resources Please go through the course slide decks thoroughly. Other than those, the following references may also be helpful: 1. Simon Baker, et al. Lucas-Kanade 20 Years On: A Unifying Framework: Part 1, CMU-RI-TR-02-16, Robotics Institute, Carnegie Mellon University, 2002 2. Simon Baker, et al. Lucas-Kanade 20 Years On: A Unifying Framework: Part 2, CMU-RI-TR-03-35, Robotics Institute, Carnegie Mellon University, 2003 Both are available at: https://www.ri.cmu.edu/pub_files/pub3/baker_simon_2002_3/baker_simon_2002_3.pdf. https://www.ri.cmu.edu/pub_files/pub3/baker_simon_2003_3/baker_simon_2003_3.pdf. 7
