The Harris corner detector is a corner detection operator that is commonly used in computer vision algorithms to extract corners and infer features of an image. It was first introduced by Chris Harris and Mike Stephens in 1988 upon the improvement of Moravec's corner detector. Compared to its predecessor, Harris' corner detector takes the differential of the corner score into account with reference to direction directly, instead of using shifting patches for every 45 degree angles, and has been proved to be more accurate in distinguishing between edges and corners. Since then, it has been improved and adopted in many algorithms to preprocess images for subsequent applications. == Introduction == A corner is a point whose local neighborhood stands in two dominant and different edge directions. In other words, a corner can be interpreted as the junction of two edges, where an edge is a sudden change in image brightness. Corners are the important features in the image, and they are generally termed as interest points which are invariant to translation, rotation and illumination. Although corners are only a small percentage of the image, they contain the most important features in restoring image information, and they can be used to minimize the amount of processed data for motion tracking, image stitching, building 2D mosaics, stereo vision, image representation and other related computer vision areas. In order to capture the corners from the image, researchers have proposed many different corner detectors including the Kanade-Lucas-Tomasi (KLT) operator and the Harris operator which are most simple, efficient and reliable for use in corner detection. These two popular methodologies are both closely associated with and based on the local structure matrix. Compared to the Kanade-Lucas-Tomasi corner detector, the Harris corner detector provides good repeatability under changing illumination and rotation, and therefore, it is more often used in stereo matching and image database retrieval. Although there still exist drawbacks and limitations, the Harris corner detector is still an important and fundamental technique for many computer vision applications. == Development of Harris corner detection algorithm == Source: Without loss of generality, we will assume a grayscale 2-dimensional image is used. Let this image be given by I {\displaystyle I} . Consider taking an image patch ( x , y ) ∈ W {\displaystyle (x,y)\in W} (window) and shifting it by ( Δ x , Δ y ) {\displaystyle (\Delta x,\Delta y)} . The sum of squared differences (SSD) between these two patches, denoted f {\displaystyle f} , is given by: f ( Δ x , Δ y ) = ∑ ( x k , y k ) ∈ W ( I ( x k , y k ) − I ( x k + Δ x , y k + Δ y ) ) 2 {\displaystyle f(\Delta x,\Delta y)={\underset {(x_{k},y_{k})\in W}{\sum }}\left(I(x_{k},y_{k})-I(x_{k}+\Delta x,y_{k}+\Delta y)\right)^{2}} I ( x + Δ x , y + Δ y ) {\displaystyle I(x+\Delta x,y+\Delta y)} can be approximated by a Taylor expansion. Let I x {\displaystyle I_{x}} and I y {\displaystyle I_{y}} be the partial derivatives of I {\displaystyle I} , such that I ( x + Δ x , y + Δ y ) ≈ I ( x , y ) + I x ( x , y ) Δ x + I y ( x , y ) Δ y {\displaystyle I(x+\Delta x,y+\Delta y)\approx I(x,y)+I_{x}(x,y)\Delta x+I_{y}(x,y)\Delta y} This produces the approximation f ( Δ x , Δ y ) ≈ ∑ ( x , y ) ∈ W ( I x ( x , y ) Δ x + I y ( x , y ) Δ y ) 2 , {\displaystyle f(\Delta x,\Delta y)\approx {\underset {(x,y)\in W}{\sum }}\left(I_{x}(x,y)\Delta x+I_{y}(x,y)\Delta y\right)^{2},} which can be written in matrix form: f ( Δ x , Δ y ) ≈ ( Δ x Δ y ) M ( Δ x Δ y ) , {\displaystyle f(\Delta x,\Delta y)\approx {\begin{pmatrix}\Delta x&\Delta y\end{pmatrix}}M{\begin{pmatrix}\Delta x\\\Delta y\end{pmatrix}},} where M is the structure tensor, M = ∑ ( x , y ) ∈ W [ I x 2 I x I y I x I y I y 2 ] = [ ∑ ( x , y ) ∈ W I x 2 ∑ ( x , y ) ∈ W I x I y ∑ ( x , y ) ∈ W I x I y ∑ ( x , y ) ∈ W I y 2 ] {\displaystyle M={\underset {(x,y)\in W}{\sum }}{\begin{bmatrix}I_{x}^{2}&I_{x}I_{y}\\I_{x}I_{y}&I_{y}^{2}\end{bmatrix}}={\begin{bmatrix}{\underset {(x,y)\in W}{\sum }}I_{x}^{2}&{\underset {(x,y)\in W}{\sum }}I_{x}I_{y}\\{\underset {(x,y)\in W}{\sum }}I_{x}I_{y}&{\underset {(x,y)\in W}{\sum }}I_{y}^{2}\end{bmatrix}}} == Process of Harris corner detection algorithm == Commonly, Harris corner detector algorithm can be divided into five steps. Color to grayscale Spatial derivative calculation Structure tensor setup Harris response calculation Non-maximum suppression === Color to grayscale === If we use Harris corner detector in a color image, the first step is to convert it into a grayscale image, which will enhance the processing speed. The value of the gray scale pixel can be computed as a weighted sums of the values R, B and G of the color image, ∑ C ∈ { R , G , B } w C ⋅ C {\displaystyle \sum _{C\,\in \,\{R,G,B\}}w_{C}\cdot C} , where, e.g., w R = 0.299 , w G = 0.587 , w B = 1 − ( w R + w G ) = 0.114. {\displaystyle w_{R}=0.299,\ w_{G}=0.587,\ w_{B}=1-(w_{R}+w_{G})=0.114.} === Spatial derivative calculation === Next, we are going to find the derivative with respect to x and the derivative with respect to y, I x ( x , y ) {\displaystyle I_{x}(x,y)} and I y ( x , y ) {\displaystyle I_{y}(x,y)} . This can be approximated by applying Sobel operators. === Structure tensor setup === With I x ( x , y ) {\displaystyle I_{x}(x,y)} , I y ( x , y ) {\displaystyle I_{y}(x,y)} , we can construct the structure tensor M {\displaystyle M} . === Harris response calculation === For x ≪ y {\displaystyle x\ll y} , one has x ⋅ y x + y = x 1 1 + x / y ≈ x . {\displaystyle {\tfrac {x\cdot y}{x+y}}=x{\tfrac {1}{1+x/y}}\approx x.} In this step, we compute the smallest eigenvalue of the structure tensor using that approximation: λ min ≈ λ 1 λ 2 ( λ 1 + λ 2 ) = det ( M ) tr ( M ) {\displaystyle \lambda _{\min }\approx {\frac {\lambda _{1}\lambda _{2}}{(\lambda _{1}+\lambda _{2})}}={\frac {\det(M)}{\operatorname {tr} (M)}}} with the trace t r ( M ) = m 11 + m 22 {\displaystyle \mathrm {tr} (M)=m_{11}+m_{22}} . Another commonly used Harris response calculation is shown as below, R = λ 1 λ 2 − k ( λ 1 + λ 2 ) 2 = det ( M ) − k tr ( M ) 2 {\displaystyle R=\lambda _{1}\lambda _{2}-k(\lambda _{1}+\lambda _{2})^{2}=\det(M)-k\operatorname {tr} (M)^{2}} where k {\displaystyle k} is an empirically determined constant; k ∈ [ 0.04 , 0.06 ] {\displaystyle k\in [0.04,0.06]} . === Non-maximum suppression === In order to pick up the optimal values to indicate corners, we find the local maxima as corners within the window which is a 3 by 3 filter. == Improvement == Sources: Harris-Laplace Corner Detector Differential Morphological Decomposition Based Corner Detector Multi-scale Bilateral Structure Tensor Based Corner Detector == Applications == Image Alignment, Stitching and Registration 2D Mosaics Creation 3D Scene Modeling and Reconstruction Motion Detection Object Recognition Image Indexing and Content-based Retrieval Video Tracking
Inductive bias
The inductive bias (also known as learning bias) of a learning algorithm is the set of assumptions that the learner uses to predict outputs of given inputs that it has not encountered. Inductive bias is anything which makes the algorithm learn one pattern instead of another pattern (e.g., step-functions in decision trees instead of continuous functions in linear regression models). Learning involves searching a space of solutions for a solution that provides a good explanation of the data. However, in many cases, there may be multiple equally appropriate solutions. An inductive bias allows a learning algorithm to prioritize one solution (or interpretation) over another, independently of the observed data. In machine learning, the aim is to construct algorithms that are able to learn to predict a certain target output. To achieve this, the learning algorithm is presented some training examples that demonstrate the intended relation of input and output values. Then the learner is supposed to approximate the correct output, even for examples that have not been shown during training. Without any additional assumptions, this problem cannot be solved since unseen situations might have an arbitrary output value. The kind of necessary assumptions about the nature of the target function are subsumed in the phrase inductive bias. A classical example of an inductive bias is Occam's razor, assuming that the simplest consistent hypothesis about the target function is actually the best. Here, consistent means that the hypothesis of the learner yields correct outputs for all of the examples that have been given to the algorithm. Approaches to a more formal definition of inductive bias are based on mathematical logic. Here, the inductive bias is a logical formula that, together with the training data, logically entails the hypothesis generated by the learner. However, this strict formalism fails in many practical cases in which the inductive bias can only be given as a rough description (e.g., in the case of artificial neural networks), or not at all. == Types == The following is a list of common inductive biases in machine learning algorithms. Maximum conditional independence: if the hypothesis can be cast in a Bayesian framework, try to maximize conditional independence. This is the bias used in the Naive Bayes classifier. Minimum cross-validation error: when trying to choose among hypotheses, select the hypothesis with the lowest cross-validation error. Although cross-validation may seem to be free of bias, the "no free lunch" theorems show that cross-validation must be biased, for example assuming that there is no information encoded in the ordering of the data. Maximum margin: when drawing a boundary between two classes, attempt to maximize the width of the boundary. This is the bias used in support vector machines. The assumption is that distinct classes tend to be separated by wide boundaries. Minimum description length: when forming a hypothesis, attempt to minimize the length of the description of the hypothesis. Minimum features: unless there is good evidence that a feature is useful, it should be deleted. This is the assumption behind feature selection algorithms. Nearest neighbors: assume that most of the cases in a small neighborhood in feature space belong to the same class. Given a case for which the class is unknown, guess that it belongs to the same class as the majority in its immediate neighborhood. This is the bias used in the k-nearest neighbors algorithm. The assumption is that cases that are near each other tend to belong to the same class. == Shift of bias == Although most learning algorithms have a static bias, some algorithms are designed to shift their bias as they acquire more data. This does not avoid bias, since the bias shifting process itself must have a bias.
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RAMnets
RAMnets is one of the oldest practical neurally inspired classification algorithms. The RAMnets is also known as a type of "n-tuple recognition method" or "weightless neural network". == Algorithm == Consider (let us say N) sets of n distinct bit locations are selected randomly. These are the n-tuples. The restriction of a pattern to an n-tuple can be regarded as an n-bit number which, together with the identity of the n-tuple, constitutes a `feature' of the pattern. The standard n-tuple recognizer operates simply as follows: A pattern is classified as belonging to the class for which it has the most features in common with at least one training pattern of that class. This is the Θ {\displaystyle \Theta } = 0 case of a more general rule whereby the class assigned to unclassified pattern u is a c r g m a x ( ∑ i = 1 N Θ ( ∑ v ∈ D c δ ( α i ( u ) , α i ( v ) ) ) ) {\displaystyle {\begin{aligned}{\underset {c}{a}}rgmax(\sum _{i=1}^{N}\Theta (\sum _{v\in D_{c}}\delta (\alpha _{i}(u),\alpha _{i}(v))))\end{aligned}}} where Dc is the set of training patterns in class c, Θ ( x ) {\displaystyle \Theta (x)} = x for 0 ≤ x ≤ θ {\displaystyle 0\leq x\leq \theta } , Θ ( x ) = θ {\displaystyle \Theta (x)=\theta } for x ≥ θ {\displaystyle x\geq \theta } , δ i , j {\displaystyle \delta _{i,j}} is the Kronecker delta( δ i , j {\displaystyle \delta _{i,j}} =1 if i=j and 0 otherwise.)and ( α i ( u ) ) {\displaystyle (\alpha _{i}(u))} is the ith feature of the pattern u: ∑ j = 0 n − 1 u η i ( j ) 2 j {\displaystyle \sum _{j=0}^{n-1}u_{\eta }i(j)2^{j}} Here uk is the kth bit of u and u η i ( j ) {\displaystyle u_{\eta }i(j)} is the jth bit location of the ith n-tuple. With C classes to distinguish, the system can be implemented as a network of NC nodes, each of which is a random access memory (RAM); hence the term RAMnet. The memory content m c i α {\displaystyle m_{ci\alpha }} at address α {\displaystyle \alpha } of the ith node allocated to class c is set to m c i α {\displaystyle m_{ci\alpha }} = Θ ( ∑ v ∈ D c δ ( α , α i ( v ) ) ) {\displaystyle \Theta (\sum _{v\in D_{c}}\delta (\alpha ,\alpha _{i}(v)))} In the usual θ {\displaystyle \theta } = 1 case, the 1-bit content of m c i α {\displaystyle m_{ci\alpha }} is set if any pattern of Dc has feature α {\displaystyle \alpha } and unset otherwise. Recognition is accomplished by summing the contents of the nodes of each class at the addresses given by the features of the unclassified pattern. That is, pattern u is assigned to class a c r g m a x ( ∑ i = 1 N m c i α ( u ) ) {\displaystyle {\begin{aligned}{\underset {c}{a}}rgmax(\sum _{i=1}^{N}m_{ci\alpha }(u))\end{aligned}}} == RAM-discriminators and WiSARD == The RAMnets formed the basis of a commercial product known as WiSARD (Wilkie, Stonham and Aleksander Recognition Device) was the first artificial neural network machine to be patented. A RAM-discriminator consists of a set of X one-bit word RAMs with n inputs and a summing device (Σ). Any such RAM-discriminator can receive a binary pattern of X⋅n bits as input. The RAM input lines are connected to the input pattern by means of a biunivocal pseudo-random mapping. The summing device enables this network of RAMs to exhibit – just like other ANN models based on synaptic weights – generalization and noise tolerance. In order to train the discriminator one has to set all RAM memory locations to 0 and choose a training set formed by binary patterns of X⋅n bits. For each training pattern, a 1 is stored in the memory location of each RAM addressed by this input pattern. Once the training of patterns is completed, RAM memory contents will be set to a certain number of 0's and 1's. The information stored by the RAM during the training phase is used to deal with previous unseen patterns. When one of these is given as input, the RAM memory contents addressed by the input pattern are read and summed by Σ. The number r thus obtained, which is called the discriminator response, is equal to the number of RAMs that output 1. r reaches the maximum X if the input belongs to the training set. r is equal to 0 if no n-bit component of the input pattern appears in the training set (not a single RAM outputs 1). Intermediate values of r express a kind of “similarity measure” of the input pattern with respect to the patterns in the training set. A system formed by various RAM-discriminators is called WiSARD. Each RAM-discriminator is trained on a particular class of patterns, and classification by the multi-discriminator system is performed in the following way. When a pattern is given as input, each RAM-discriminator gives a response to that input. The various responses are evaluated by an algorithm which compares them and computes the relative confidence c of the highest response (e.g., the difference d between the highest response and the second highest response, divided by the highest response). A schematic representation of a RAM-discriminator and a 10 RAM-discriminator WiSARD is shown in Figure 1.
Line Drawing System-1
LDS-1 (Line Drawing System-1) was a calligraphic (vector, rather than raster) display processor and display device created by Evans & Sutherland in 1969. This model was known as the first graphics device with a graphics processing unit. == Features == It was controlled by a variety of host computers. Straight lines were smoothly rendered in real-time animation. General principles of operation were similar to the systems used today: 4x4 transformation matrices, 1x4 vertices. Possible uses included flight simulation (in the product brochure there are screenshots of landing on a carrier), scientific imaging and GIS systems. == History == The first LDS-1 was shipped to the customer (BBN) in August 1969. Only a few of these systems were ever built. One was used by the Los Angeles Times as their first typesetting/layout computer. One went to NASA Ames Research Center for Human Factors Research. Another was bought by the Port Authority of New York to develop a tugboat pilot trainer for navigation in the harbor. The MIT Dynamic Modeling had one, and there was a program for viewing an ongoing game of Maze War.
Svetlana Lazebnik
Svetlana Lazebnik (born 1979) is a Ukrainian-American researcher in computer vision who works as a professor of computer science and Willett Faculty Scholar at the University of Illinois at Urbana–Champaign. Her research involves interactions between image understanding and natural language processing, including the automated captioning of images, and the development of a benchmark database of textually grounded images. == Education and career == Lazebnik was born in Kyiv in 1979 to a family of Ukrainian Jews, and emigrated with her family to the US as a teenager. She majored in computer science at DePaul University, minoring in mathematics and graduating with the highest honors in 2000. She completed her Ph.D. in 2006 at the University of Illinois at Urbana–Champaign, with the dissertation Local, Semi-Local and Global Models for Texture, Object and Scene Recognition supervised by Jean Ponce. After postdoctoral research at the University of Illinois, she became an assistant professor at the University of North Carolina at Chapel Hill in 2007. She returned to the University of Illinois as a faculty member in 2012. She is a co-editor-in-chief of the International Journal of Computer Vision. == Recognition == Lazebnik was named an IEEE Fellow in 2021, "for contributions to computer vision". With Cordelia Schmid and Jean Ponce, she won the Longuet-Higgins Prize in 2016 for the best work in computer vision from ten years earlier, for their work on spatial pyramid matching.