Histogram of Oriented Gradients (HOG)

Computer Vision
Trn Duy Quang (HCMUS)

Email: duyquang.fit@gmail.com

Tng quan v Gradient
Histogram
1
HOG Descriptor
2
ng dng nhn dng ngi
s dng HOG
3
Ci tin
4
Demo ng dng
5
Trn Duy Quang - HCMUS
1
Lc Gradients tnh
ton da trn thng tin v
hng v cng bin
thin mu/mc xm ti mi
vng trn nh.
Cc descriptors ch da trn s thay i thnh phn
cng gradient c tht s bn vng?
Nhy cm vi s thay i v cng sng!
[Freeman and Roth, 1995]
c trng c dng nhiu trong lnh vc pht hin i
tng.

xut bi Bill Triggs v Navel Dalal vo nm 2005 ti
vin nghin cu INRIA.

tng: hnh dng v trng thi xut hin ca vt c th
c c trng bng s phn b v cng v hng
ca cnh.

Tng quan v Gradient
Histogram
1
HOG Descriptor
2
ng dng nhn dng ngi
s dng HOG
3
Ci tin
4
Demo ng dng
5
Quy trnh rt trch c trng
1
V d minh ha 2
Tm tt 3
Thng k So snh
4
nh Input
Chun ha
Gamma &
Colour
Tnh
Gradients
Chia hng
& Gom
nhm c
trng ti
mi cell
Tnh c
trng cho
khi &
chun ha
Tnh vector
c trng
cho ca s
detector
Scale nh cha i
tng nhn dng
V d:
nh: 64x128 pixels
nh Input
Chun ha
Gamma &
Colour
Tnh
Gradients
Chia hng
& Gom nhm
c trng ti
mi cell
Tnh c
trng cho
khi & chun
ha
Tnh vector
c trng
cho ca s
detector
Th nghim vi:
RGB
CIELAB
Grayscale

Phng php chun ha:
Square root
Log Compression
Mc ch: Lm gim bt nh hng ca s thay i
nh sng v nh hng ca bng m (shadowing).

One sided:
Two sided:

Kernel:
One sided:
Two sided:

Gradient: Cng ::
Hng::

) arctan(
x
y
s
s
= u
h
x f h x f
x f
h
) ( ) (
lim ) ( '
0
+
=

h
h x f h x f
x f
h
2
) ( ) (
lim ) ( '
0
+
=

-1 0 1
-1 1
2 2
y x
s s s + =
Diagonal Sobel
nh Input
Chun ha
Gamma &
Colour
Tnh
Gradients
Chia hng
& Gom nhm
c trng ti
mi cell
Tnh c
trng cho
khi & chun
ha
Tnh vector
c trng
cho ca s
detector
Ly gradient theo phng x:
nh X-Gradient

Kernel:

Ly gradient theo phng y:
nh Y-Gradient

Kernel:
(
(
(
1
0
1
| | 1 0 1
nh Input
Chun ha
Gamma &
Colour
Tnh
Gradients
Chia hng
& Gom nhm
c trng ti
mi cell
Tnh c
trng cho
khi & chun
ha
Tnh vector
c trng
cho ca s
detector
Thng tin Gradient ti cc pixels:
V tr & cng bin thin ca pixel:
Hng ti mi pixel:

2 2
x y
Magnitude I I = +
arctan( )
x
y
I
Orientation
I
=
Vic lu tr chnh xc gi tr hng bin thin ca tng dim
nh (x,y) tn nhiu chi ph.
Chia khng gian hng bin thin thnh cc bin
(Interpolation)
Gc hng nghing r ti pixel (x,y) c ln )
c ri rc ha gi tr vo mt trong p bins.
Trng hp ri rc ha signed-HOG:
Trng hp ri rc ha unsigned-HOG:
Signed HOG Unsigned HOG
( , ) x y o
* ( , )
( , ) ( ) mod
p x y
B x y round p
o
t
=
* ( , )
( , ) ( ) mod
2
p x y
B x y round p
o
t
=
R-HOG: mi cell c hnh
dng l hnh ch nht.

C-HOG: Gm 1 cell trung
tm c dng hnh trn v
cc cell c dng hm log
bao quanh.

2 dng ph bin
Mt s dng khc:

Bar HOG:
Centre-Surround HOG
Cng thc xc nh hng tri:
2
1
arctan( )
2
xy
yy xx
I
I I
u =
'' 2 2
cos 2 cos sin sin
xx xy yy
I I I I
u
u u u u = +
Gi tr bin c nh lng bi tng cng bin thin ca cc
pixels thuc v bin .
0
1
2
3
4
5
6
B
i

Hng
nh Input
Chun ha
Gamma &
Colour
Tnh
Gradients
Chia hng
& Gom nhm
c trng ti
mi cell
Tnh c
trng cho
khi & chun
ha
Tnh vector
c trng
cho ca s
detector
La chn tham s:
S bin hng
Kch thc Cell
Kch thc Block
9 bins / 18 bins
8 x 8 pixels
2 x 2 cells
Vector c trng ca khi c tnh bng cch ghp vector
c trng ca tng li vi nhau.
S thnh phn ca vector c trng ti mi khi:
size
feature/Block
= n
cells
* size
feature/cell

nh Input
Chun ha
Gamma &
Colour
Tnh
Gradients
Chia hng
& Gom nhm
c trng ti
mi cell
Tnh c
trng cho
khi & chun
ha
Tnh vector
c trng
cho ca s
detector
Trong :
n
cells
l s cell c trong 1 Block
size
feature/cell
l kch thc vector c trng ti mi cell
V d, 1 s tham s cho bi ton nhn dng ngi:
n
cells
=2x2 = 4 (cells)
size
feature/cell
= 9 (histogram ti mi cell c chia thnh 9 bins)
=> size
feature/Block
= n
cells
* size
feature/cell
= 4 * 9 = 36 (thnh phn)
nh Input
Chun ha
Gamma &
Colour
Tnh
Gradients
Chia hng
& Gom nhm
c trng ti
mi cell
Tnh c
trng cho
khi & chun
ha
Tnh vector
c trng
cho ca s
detector
Chun ha vector c trng trn tng block.
Quy tc chun ha:
L1 Norm: L2 Norm: L1-sqrt:
Trong :
v: vector c trng ban u ca mt block (cha chun ha).
||v||
2
: k-norm ca v vi k = 1, 2
e: Hng s nh (V d: e = 0.00001)
nh Input
Chun ha
Gamma &
Colour
Tnh
Gradients
Chia hng
& Gom nhm
c trng ti
mi cell
Tnh c
trng cho
khi & chun
ha
Tnh vector
c trng
cho ca s
detector
Mt ca s c to bi cc khi xp gi ln
nhau (Overlapping)
c trng ca mt ca s s c tnh bng
cch ghp vector c trng ca tng block to nn
ca s .
S thnh phn ca vector c trng:
Trong : W
w
, ,W
Block
, W
Cell
ln lt l chiu rng ca ca s, Block v Cell
H
w
, ,H
Block
, H
Cell
ln lt l chiu cao ca ca s, Block v Cell.
n
Blocks/Window
l s block c trong 1 ca s.

size
feature/Window
l kch thc vector c trng ca ca s.
/
* *
( 1) *( 1)
w Block Cell w Block Cell
Blocks Window
Cell Cell
W W W H H H
n
W H

= + +
/ / /
*
feature Window Blocks Window feature Block
size n size =
Gi thit: cc block trong ca s overlap nhau 1 cell.

Bng thng k nh hng kch thc overlap gia cc Blocks:
Xt nh Input:
i tng nhn dng: Xe hi
K hiu l: I
c trng s dng: R-HOG
Tnh o hm nh theo phng X:
*
X X
I I D =
D
X
= [-1 0 1] D
Y
= [-1 0 1]
T

*
Y Y
I I D =
Tnh o hm nh theo phng Y:
Bc 1: Tnh Gradient
Tnh cng v hng bin thin Gradient ti mi pixel:

Bc 1: Tnh Gradient
D
X
= [-1 0 1] D
Y
= [-1 0 1]
T

2 2
| |
X Y
G I I = +
arctan
X
Y
I
I
u =
Chia nh thnh nhiu cell.
Xt trng hp kch thc mi cell l: 8x8 (pixels)
Bc 2: Lng ha hng khng gian pixel
Bc 2: Lng ha hng khng gian pixel
Tnh histogram cho tng cell vi cc tham s:
Khng gian hng bin thin xt trong min 0 360
0
(signed HOG)
S bin hng l 18 (bins) (=> m ca mi bin l 20
0
)
Vector c trng ca mi cell gm 18 thnh phn
Vector c trng ca mi khi c tnh bng cch ghp ni cc vector c trng
ca tng cell trong khi vi nhau.
Xt tham s thit lp: mi block gm 2 x 2 (cells).
=> Vector c trng ca 1 block c th c minh ha nh sau:
Vector c trng ca Block
Bc 3: Tnh & Chun ha vector c trng cho tng khi
Bc 3: Tnh & Chun ha vector c trng cho tng khi
Xt gi thit:
Kch thc block: 2 x 2 (cells)
S thnh phn ca vector c trng ti mi cell: 18
S thnh phn ca vector c trng ti mi Block: 18 * (2 * 2) = 72 (thnh phn)
Cu hi: Kch thc vector c trng ti mi Block?
Bc 4: Tnh vector c trng cho ca s
Ghp ni vector c trng ca cc block, ta thu c vector c trng cho ca s.

Lu : Cc Block trong ca s c th nm overlap ln nhau.
[ u
1
,...,u
5
,...,u
11
,...]
Vector c trng cho ca s:
u
1
u
5

u
11

Xt gi thit:
Kch thc ca s: 104 x 56 (pixels)
S overlap cell gia 2 Block: 1 (cell)
S thnh phn ca vector c trng ti mi Block: 72
S thnh phn ca vector c trng cho ca s: 72 * n
Blocks
= 72 * 72 = 5184 (tp)
Cu hi: Kch thc vector c trng ca ca s???
S Blocks c trong 1 ca s:
104 2*8 56 2*8
( 1)*( 1) 12*6 72( )
8 8
Blocks
n blocks

= + + = =
Bc 4: Tnh vector c trng cho ca s
Car/non-car
Classifier
Minh ha qu trnh Test: Multiscale Classifier
Car Detected
nh Positive
Object/Non-object
a descriptor vo b hc
(SVM)
Thu thp vector c trng cho
ca s
Tnh & chun ha vector c
trng cho khi
Chia hng v gom nhm dc
trng ti mi cell
Tnh Gradients
Gamma compression
[ ..., ..., ..., ...]
Bng thng k cc tham s ti u c trng HOG ng vi mt s loi i tng:
Hiu sut ca cc Descriptors xt trong bi ton Nhn dng i tng:

HOG >Haar-wavelet > PCA-SIFT >Shape Context.

Bng so snh c trng HOG v SIFT:
Tng quan v Gradient
Histogram
1
HOG Descriptor
2
ng dng nhn dng ngi
s dng HOG
3
Ci tin
4
Demo ng dng
5
Thch thc bi ton
1
Mt s hng tip cn 2
Mt s Dataset chun 3
Train & Test
4
S a dng v dng
a dng v th hin (apperance)/ qun o
Backgrounds phc tp
S thay i mnh v sng
S che khut
i tng cc mc t l khc nhau
Haar wavelets + SVM: Papageorgiou
& Poggio, 2000; Mohan et al 2000
Rectangular differential features +
adaBoost: Viola & Jones, 2001
Model based methods: Felzenszwalb
2008

Local Binary Pattern: Wang 2009

Histogram of Oriented Gradients:
Dalal and Trigg 2005
Wang
ICCV 2009
Felzenszwalb
CVPR 2008
Viola-Jones
@ng lc:
Cc phng php rt trch c trng cnh, cng gradient khng
bn vng.

Cc phng php da trn cu trc blob cho hiu sut nhn dng thp.

HOG cho hiu sut cao v bn vng vi cc php bin i. (Theo
Dalal)

Gii hn ca lp bi ton nhn dng i tng.

@Nhc im:
Vector c trng HOG c s thnh phn ln (thng ~4000).
Cho kt qu kh chnh xc v n nh trn nhiu tp d liu
khc nhau.
INRIA pedestrian
dataset
Positive images Negative
images
Positive windows Negative
windows
Tin x l d liu
(Crop, scale nh,)
To tp d liu Train
( chun ha)
Thu hp khng gian nh thnh
khng gian c trng
To b phn lp nh phn
PHA HC PHA NHN DNG
Phn loi Object/ Non-Object
Scan ton vng nh nhiu
mc t l
S dng classifier phn lp
i tng
Kt hp cc detector trong
khng gian 3D (v tr, t l)
Khoanh vng di tng
Test Set gm 287 nh
Resolution ~640x480
589 persons
Avg. size: 288 pixels
Tng quan v Gradient
Histogram
1
HOG Descriptor
2
ng dng nhn dng ngi
s dng HOG
3
Ci tin
4
Demo ng dng
5
4
Tng tc thut ton s dng Integral Image
1
fastHOG GPU Implementation
2
Nhn xt:
Trong HOG, vic tnh vector c trng cho tng cell c thc hin rt
nhiu ln
C th s dng k thut Integral Image tng tc tnh ton.
Khi nim Integral image?
Trong :
i: nh ban u
ii: nh Integral
Vic p dng integral image gip tng tc ng k qu trnh
tnh gi tr thnh phn ca vector c trng (gi tr ca bin) trn
tng cell .
Gi s ta cn tnh gi tr thnh
phn i ca vector c trng ti cell
D (nh hnh bn). Khi gi tr cn
tnh s bng:
Tn dng kh nng x l song song mt s lng ln tc v n
gin ca vi x l ha.
Motivation:
Vic tnh ton cng & hng bin thin ti mi pixel trn
nh c th thc hin ng thi & c lp.
C th dng nhiu thread tng tc tnh vector c trng
ca tng block trong ca s.
Ti liu tham kho: fastHOG - a real-time GPU implementation of
HOG _ V A Prisacariu, I D Reid, 2009
Tng quan v Gradient
Histogram
1
HOG Descriptor
2
ng dng nhn dng ngi
s dng HOG
3
Ci tin
4
Demo chng trnh
5
1. N. Dalal and B. Triggs, Histograms of oriented
gradients for human detection, in IEEE Conference
on Computer Vision and Pattern Recognition, 2005.

2. D. G. Lowe. Distinctive image features from scale-
invariant keypoints. International Journal of Computer
Vision, 60(2):91110, 2004.

3. C. Harris and M. Stephens. A combined corner and
edge detector. In Alvey Vision Conference, pages 147
151, 1988.

4. Subhransu Maji et al. Classification using
Intersection Kernel Support Vector Machines is
Efficient. IEEE Computer Vision and Pattern
Recognition 2008.

Cm n Thy C
v cc bn ch
lng nghe

Tnh mnh m v bn vng ca c trng HOG c chng minh qua
cc p dng trn bi ton pht hin i tng.
Mc tiu nghin cu hin nay?
Phn lp/ Nhn dng hnh ng
c trng khng gian, thi gian
HOG3D: bt bin vi bin i khng gian, thi
gian
HOG3D

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Histogram of Oriented Gradients (HOG)

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Computer Vision

Trn Duy Quang (HCMUS)

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