Download - Week 8 : Web-Assisted Object Detection
WEEK 8:
WEB-ASSISTED OBJECT
DETECTION
A L E J A N D R O TO R R O E L L A &
AM
I R R . ZA M
I R
GEOMETRY METHOD PROCEDURE
For each query image we manually set orientation, angle of view, range of view, and location of camera.
: Camera location
: Object locations
: Field of vision
GEOMETRY METHOD PROCEDUREUsing the obtained FOV, select only the objects that are within the
FOV
Calculate the degrees from the left limit of the FOV and store in a vector specific to the object’s class These vectors will be
our “true” layout of objects.
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GEOMETRY METHOD PROCEDUREWe then run our DPM detectors for the classes in question on the
query image.
Below are results for Street Lights (green) and Traffic Signals (red).
GEOMETRY METHOD PROCEDUREWe sift through the detections that completely disagree with the
“true” GIS layout.
GEOMETRY METHOD PROCEDUREWe then sift through the detections again by size of bounding boxes
(too large or too small)
GEOMETRY METHOD PROCEDUREUsing the sifted bounding boxes we generate all possible
combinations (no repeats, order doesn’t matter) of possible layouts.
For each class: Out of the N detections, choose k of them for the possible layout. Where
For each layout combination we calculate the “cost” of it compared to the obtained “true” GIS layout and keep track of the combination that returned the minimum
Two cost functions we’ve tested:
Absolute value:
Standard deviation:
GEOMETRY METHOD PROCEDUREOnce we’ve traversed through all the possible combinations, we
display the detections that resulted in the minimum of the cost function.
𝑆𝑇𝐷
𝐴𝐵𝑆
GEOMETRY METHOD RESULTS: BEFORE
𝑆𝑇𝐷
Traffic SignalsTrash CansTraffic Signs
GEOMETRY METHOD RESULTS: AFTER GIS SIFT
𝑆𝑇𝐷
Traffic SignalsTrash CansTraffic Signs
GEOMETRY METHOD RESULTS: AFTER SIZE SIFT
𝑆𝑇𝐷
Traffic SignalsTrash CansTraffic Signs
GEOMETRY METHOD RESULTS: AFTER FUSION (ABS)
𝑆𝑇𝐷
Traffic SignalsTrash CansTraffic Signs
GEOMETRY METHOD RESULTS: AFTER FUSION (STD)
𝑆𝑇𝐷
Traffic SignalsTrash CansTraffic Signs
GEOMETRY METHOD RESULTS: BEFORE
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER GIS SIFT
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER SIZE SIFT
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER FUSION (ABS)
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER FUSION (STD)
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: BEFORE
𝑆𝑇𝐷
Street LightsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER GIS SIFT
𝑆𝑇𝐷
Street LightsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER SIZE SIFT
𝑆𝑇𝐷
Street LightsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER FUSION (ABS)
𝑆𝑇𝐷
Street LightsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER FUSION (STD)
𝑆𝑇𝐷
Street LightsTraffic Signs
GEOMETRY METHOD RESULTS: BEFORE
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER GIS SIFT
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER SIZE SIFT
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER FUSION (ABS)
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER FUSION (STD)
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: BEFORE
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER GIS SIFT
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER SIZE SIFT
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER FUSION (ABS)
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: AFTER FUSION (STD)
𝑆𝑇𝐷
Traffic SignalsStreet Lights
GEOMETRY METHOD RESULTS: BEFORE
𝑆𝑇𝐷
Fire HydrantsStreet Lights
GEOMETRY METHOD RESULTS: AFTER GIS SIFT
𝑆𝑇𝐷
Fire HydrantsStreet Lights
GEOMETRY METHOD RESULTS: AFTER SIZE SIFT
𝑆𝑇𝐷
Fire HydrantsStreet Lights
GEOMETRY METHOD RESULTS: AFTER FUSION (ABS)
𝑆𝑇𝐷
Fire HydrantsStreet Lights
GEOMETRY METHOD RESULTS: AFTER FUSION (STD)
𝑆𝑇𝐷
Fire HydrantsStreet Lights
GEOMETRY METHOD RESULTS: BEFORE
𝑆𝑇𝐷
Street LightsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER GIS SIFT
𝑆𝑇𝐷
Street LightsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER SIZE SIFT
𝑆𝑇𝐷
Street LightsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER FUSION (ABS)
𝑆𝑇𝐷
Street LightsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER FUSION (STD)
𝑆𝑇𝐷
Street LightsTraffic Signs
GEOMETRY METHOD RESULTS: BEFORE
𝑆𝑇𝐷
Traffic SignalsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER GIS SIFT
𝑆𝑇𝐷
Traffic SignalsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER SIZE SIFT
𝑆𝑇𝐷
Traffic SignalsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER FUSION (ABS)
𝑆𝑇𝐷
Traffic SignalsTraffic Signs
GEOMETRY METHOD RESULTS: AFTER FUSION (STD)
𝑆𝑇𝐷
Traffic SignalsTraffic Signs
GEOMETRY METHOD CONCLUSIONS
• Using the Standard deviation cost function resulted in better results compared to the Absolute value function on average.• A more advanced cost function would probably result in
even better results• Results look promising considering we haven’t implemented a
robust sensor model for creating the “true” GIS layout
GOALS FOR NEXT WEEK
• Implement a robust sensor model• Look into more advanced cost functions• Instead of crudely sifting through the bounding boxes by size
using a threshold based on the size of the image, use the distances of the objects from the camera to estimate how large the bounding box should be.
THANK YOUFIN.