ImRegSlides2 - Fundamentals of Image Registration and...

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Fundamentals of Image Registration and Mosaicking M. Zuliani 1 1 [email protected] Vision Research Lab Department of Electrical and Computer Engineering University of California, Santa Barbara October 30, 2007 M. Zuliani (Vision Research Lab) Image Registration October 30, 2007 1 / 54
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Outline 1 Fundamentals for Image Registration A Qualitative Definition Conventions Image Derivatives Image Interpolation Formal Definition 2 Image Registration Systems Building Blocks Global Mappings Digression: Mutual Information Registration 3 Point Feature Detection Introduction The Gradient Normal Matrix Condition Theory Primer Two Ways to Look at the Problem Corner Detectors M. Zuliani (Vision Research Lab) Image Registration October 30, 2007 2 / 54
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Fundamentals for Image Registration Outline 1 Fundamentals for Image Registration A Qualitative Definition Conventions Image Derivatives Image Interpolation Formal Definition 2 Image Registration Systems Building Blocks Global Mappings Digression: Mutual Information Registration 3 Point Feature Detection Introduction The Gradient Normal Matrix Condition Theory Primer Two Ways to Look at the Problem Corner Detectors M. Zuliani (Vision Research Lab) Image Registration October 30, 2007 3 / 54
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Fundamentals for Image Registration A Qualitative Definition A Qualitative Definition Image registration : establish a mapping between two or more images possibly taken: at different times, from different viewpoints, under different lighting conditions, and/or by different sensors align the images with respect to a common coordinate system coherently with the three dimensional structure of the scene Image mosaicking : images are combined to provide a representation of the scene that is both geometrically and photometrically consistent. M. Zuliani (Vision Research Lab) Image Registration October 30, 2007 4 / 54
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Fundamentals for Image Registration Conventions The Image Lattice 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 M. Zuliani (Vision Research Lab) Image Registration October 30, 2007 5 / 54
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Fundamentals for Image Registration Image Derivatives Finite Differences Derivatives On a continuous domain: df dx ( x ) def = lim h 0 f ( x + h ) - f ( x ) h On a discrete lattice: I x ( x i , j ) def = I ( x i + 1 , j ) - I ( x i - 1 , j ) 2 h M. Zuliani (Vision Research Lab) Image Registration October 30, 2007 6 / 54
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Fundamentals for Image Registration Image Derivatives Smoothing Before Deriving Prewitt operator: P x 1 = - 1 0 1 first central difference 1 3 1 3 1 3 average smoothing = 1 3 - 1 - 1 - 1 0 0 0 1 1 1 Sobel operator: changing the smoothing kernel to 1 4 1 2 1 4 : S x 1 = 1 4 - 1 - 2 - 1 0 0 0 1 2 1 Transpose the kernels to derive along x 2 M. Zuliani (Vision Research Lab) Image Registration October 30, 2007 7 / 54
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Fundamentals for Image Registration Image Derivatives How Much Smoothing? The Issue of Scale.
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