Extracting Salient Image Features for Reliable ... - UMass Vision

!"$#&%('*)+-,- ./ 0 " 213 4 657% 4 98(#:$4 ;&(@& 213 3 A#&% B CEDFCHGJIKCMLCONPCEQSRUT2VUWXYIKV:Z[CONP\DX*QSR]X*Q^V_`HÈ\Q:aXYQ^NJbYQ c=dKegf;hjilk dKm*i$nopnk erqsildJhutYvxwydxmsvxd4zs{[|~}=tst}uk sdKhlizs}uk sdKhlizs|~}zs{[tY} Sxxg4 swegf;e]dKheYhldxjdxmilf;m3dK vxwydxmik dJilrn*!oEn;hgmrswymrFlf;ywdKm*i YwyUdJhldxmilwf;oEdxf;ilqshldKwymwkf;4dxxdf;hlqrdilgf;iilrdeYhln4rydxkn;ormgYwms lf;wydxmi2oEdfilqshldxufk nmr f;yilrd[e]njjwyryd&n4mrdKuwy d¡qrwy¢fydxmi iln"gmrswymrn4qsij ywydKhlwm£f:rwys¤swyk dxmsjwnmgf;sf;iPf!jdKid~feres¦¥§nqsilywydKhsdKildxvJilwnm§ildxvPs msw¡qsdxuqsjd~wymrf;iPfk wymswmsilnsdx¢*wyjdfywymrdxf;hilwyk d&f;nhlw¦ilrkïlndK©*ijhPfvKi ilsd[lfywydxmiuoHdf;ilqYhldxx rwy ¥YwdKYf"sdKrmrw¦ilwyn4m~n;olf;ywdKmrvK¥+ª rwyvJ+hldxilunmFf k n;hldueYhlwmsvxwyeryd gf;jwyfmr fyjn"eYhln*sqrvKdxk n;hld hldKwf;rydoEdxf;ilqshld2vxn;hjhldxje]n4mY YdxmrvxdK2]dJi«ª$dKdxm~wykfdxilgfmilrd=k n;hld=vxnmY¢4dxmilwnmgf;nmrdxx ¬ s®u¯g°^±[²³´M¯]µl± ® T¶gGJIxXY·GJCEQU¸!¹;º»y¼¾½;¿ÀÁÂ\X*GJÃUIK\NCON&b*ÁOGK\;QÄX·IKÃ^·COX*`ÅUIJ\ÅUIKbg·;\NKNPCEQU¸FNPGJ\Å3ÁÂbYICHDXY¸Y\ X*QX*`HÆ NPGJ\IJ\b ÇDNJXCONGKÈ]·xÌ^É/CHQ^XY¸+Q ÇIK\Ê ÏrCOÃUNJCECEbYIK\Q~\4GKNlXsGxNPX*Ë]ÍUN;ÈRUCONPNPÌ^Ã^CH·xQ^Ì¸+XY·NbsbsIJIKÍ]\ÎlNJ\ÅM·bYG=QÎKV]\\·;bYQ^¸s·\4QUN=CHGJÍCEbY\;QSGlWuRsbY\Í]\;QÎl\4·ÅMG&bYCEV]Qr\G[GK\ÁÂ\·XGJCEGKbYÃUQSIKRU\N=XYQ^ÁÂIKV:bYDÐ V]CHÁOÆ ÁÂ\;IK\;QrGCEDX*¸s\N;È^É3bsNPGb*ÁOGK\;Q3CHGCON[CEQ]ÁÂ\4XYNJCHÍ^`H\"GKb·bsQ^NPCOV]\I[ÅbYGJ\QsGKCOX*`SÁÂ\4XGJÃÎJ\4NXG\ Ê \I Ç ÅUCH¶g\`SCEQGKÌU\ CEDX*¸Y\YRrNJb~bYQU` Ç XËY\ Ç NJÃUÍ^NJ\G;R^·X*ÈÈ\V/¹º*»y¼¾½;¿ÀMÑ½KºYÀ¾Ò]ÓK½¹xR^X*IK\Ã^NJ\VÔÈ ÕjQ GJÌU\uWubsIKNPG·;XsNP\ GJÌU\NJXY`HCE\QsGÔÁÂ\4XGJÃÎJ\4NXYIJ\COV]\QsGKCHÖ^\VÍ Ì^X*Q^V× ØÙ¤R4ÍUÃ]G$DFbYIK\b*ÁOGJ\Q X¸Y\;Q^\;IxX*`^V]\;Ö^QUCHGJCEbsQ+bYÁSNKX*ÈCE\;Q· Ç CONÃ^NJ\VÔÈUÚÁOGJ\;Q·;bYIKQU\;IxN;RYX*Ç IK\&·bYQNPCOV]\IJ\4V+NKX*ÈCE\;QrG[×ÛÜ*Ù«R X*Q^V!X*ÒNJb+\4V]¸Y\4N[X*Q^V:ÍUÈbYÍ^N[·X*Q!Í\XsVUV]\4VGKb~GJÌU\NJ\G[b*ÁNKX*ÈCE\;QrG2ÁÂ\4XGJÃÎJ\4N × Ý*Ù¤È ÕjQ:GKÌUCON[Å^XYÅ\I&Wu\VU\Ö^QU\XYQ3CEDX*¸Y\ÁÂ\X*GJÃUIK\GJÌU\+NJXYDF\"W=X XsN[CEQÞ× ÝÙ«RMXsN[X \·GJbsI b*Á ßX*Ã^NKNPCOXYQ:V]\IJC Ê XGKC Ê \IK\NJÅbsQ^NJ\N[XGXÅUCH¶]\;`b Ê \;I[XIxX*QU¸s\"bYÇ Á$NK·;XYÈ\N;RgÕjQÅ^XYIPGKCOÊ ·ÃUÒX*IR Wu\&ÃNP\[GKÌU\&ÖIKNPGuX*QVGJÌU\"NP\4·bYQVFV]\;IKC X*GJC \4Nb \;I$GKÌUIK\;\·;bYQ^NJ\·;Ã]GJC \=NK·;XYÈ\N;ÈYà=ÌrÃNRgX ÁÂ\XGKÃUIK\CON&V]\ÖQU\V3X*G\ Ê \;I Ç ÅUCH¶]\;`ábYÁ$Ê\ Ê \I Ê Ç NJ·X*Ê È\b*Á$GJÌU\CHDXY¸Y\YRU\¶UÊ ·\Å]G&ÁÂbYI&GJÌU\ GKbYÅ]Æ DFbsNPGXYQ^V+GJÌU\ÍbYGPGJbsD~Æ«DFbrNlGNK·;X*È\4NÈãâ£\&Ã^NJ\=GJÌU\&Q^bYIKDX*ÈCEä;\VCEQUQ^\;IÅUIKb]V]Ã^·G ÍM\GlW\;\Q GlWub=ÁÂ\4XGJÃÎJ\ Ê \·GKbYIxNSXYNáX=DF\4XYNJÃUIK\bYÁ]NJCEDFCEÈXYIJCHG Ç Í\;GlWu\\;Q"GJÌU\u·bYIKIK\NJÅbsQ^V]CEQU¸uÁÂ\XGKÃUIK\N;È à=ÌU\Q^bYIKDX*ÈCEäXGKCEbYQÅUIKb Ê COV]\N X+V]\;¸sIJ\\bYÁáCHQ Ê X*IKCOX*Q^·;\=GJb+`HCEQU\4X*I2·xÌX*QU¸s\N CEQCEQrGJ\Q^NJCG Ç È âÞ\ X*IK¸YÃ^\&GJÌXG=GJÌU\ NJÅ^XY·;\bYÁXY`H`ÁÂ\X*GJÃUIK\NCEQ:XYQ:CEDXY¸Y\&·;XYQ:ÍM\ CH\Wu\4VXYN=X+ÒX*IK¸Y\ D+ÃU`HGKCÆjV]CEDF\;QNPCEbYQX`;VUX*GKX[NJ\G;R4X*Q^V"GKÌU\[¹;º»y¼¾½;¿ÀYå^æ¼O¿MÀÂ¹çxæ*ÓÓJ½¹«å^æ¿ÔèÀæÊÀEé^½[æÒUÀ¤»y¼¾½Óx¹=ælÑ2ÀOéU½ ¹½À¾ÈYâ£\NPÌ^bWêGKÌ^XGuVU\;Q^NJCHG ÆÍ^XsNP\4VbsÃ]GJÈCE\;IV]\;GJ\·GJCEbYQGK\·xÌUQUCOÏrÃU\4N&× ëÙ¤RM×Û;ÙÃ^NJ\VCEQFVUXGxX DFCHQ^CHQ^¸:X*IK\X*Å^ÅUÈCE·X*ÍUÈ\ GKb3Ç GJÌ^\FÅUIJbsÍUÈ\;DbYÁuÖQ^V]CEQU¸/NKX*ÈCE\;QrGÁÂ\4XGJÃÎJ\4NÈáâ£\Ã^NJ\~GJÌ^\NJ\ GJ\·xÌ^QUCOÏsÃ^\NGJbs¸Y\;GJÌU\IW[CGKÌGJÌU\NJDFbgb*GKÌUQU\NKNÅUIKbYÅM\;IJG Ç b*ÁMGJÌU\&ÁÂ\XGKÃUIK\&NPÅ^Xs·\[V]\4NJ·;IJCEÍM\V CHQ!NP\4·GKCHbsQÜ+GJbFV]\ Ê CONJ\XÈCEQU\XYI GJCEDF\"X*È¸YbsIJCHGJÌ^D¨GKb~VU\GJ\4·G=GJÌ^\NKX*ÈCE\;QrG ÁÂ\4XGKÃUIJ\4NÈMÚÃÎ V]\Ö^Q^CGKCEbYQÄbYÁNKX*ÈCE\;Q^· IK\NPGKNbsQÞX:DFbYIK\ÅUIJCEQ^·;CEÅUÈ\VÍ^XsNPCON;RSXYQ^V§CHQrGKÃUCHGJC \` CHGNJ\;\DN GJbÄÍM\DFbsIJ\FQXGJÃÎKXY` Ç GJÌX*QìGKÌUbsNJ\·bsDFDFbYQU` Ç Ã^NJ\VÍ\4·;X*ÃNP\CHGCENV]\;IKC Ê Ê \V§Ç ÁÂIKbYD7GJÌ^\ NlGKIJÃ^·GJÃUIK\b*ÁGJÌU\ÁÂ\4XGKÃUIJ\ NJÅ^XY·;\CGxNP\`HÁjÈ âÞ\ÅUIK\NJ\;QrG[\¶]ÅM\;IKCHDF\QrGKNuCHQ!W[ÌUCO·xÌW\\NPGKXYÍUÈCENJÌ·;bYIKIJ\4NPÅMbYQ^VU\;Q^·;\NuÍ\;GlWu\\;Q:ÁÂ\XÆ GJÃUIK\N2CHQ~Å^XYCEIKN$bYÁMCEDX*¸s\NÃ^NJCEQU¸ bYQU` Ç GKÌU\&ÁÂ\4XGKÃUIJ\&NJCEDFCEÈXYIJCHG Ç X*Q^VGKÌU\NJ\;`HÁOÆ·;bYQ^NJCONlGK\;Q^· Ç í rwyuªnhlîªfuoEqrmrsd+wmFerf;hjiu¥Ff ïrdxyynª jrwyeFoHhlnkñðfilkf;mò[n*sfî~pn4k egf;m¥ó2dK jdf;hlvPFôfrx

·bYQNlGKIKXYCHQrG=V]\NK·IKCEÍ\4VCEQ:NJ\·GJCEbYQ rÈ&b~bYGJÌU\I=·;bYQ^NPGJIxX*CEQrGKNX*IK\XYNKNPÃUDF\4VÔÈUà=ÌU\\¶]ÅM\;IJÆ CHDF\QrGKNNJÌUbWRMGJÌ^X*GÁÂ\4XGKÃUIJ\4N&GKÌ^XG X*IK\+NKX*ÈCE\;QrGXs·;·bsIKVUCHQ^¸~GJb!bYÃUIV]\ÖQUCHGJCEbYQ3ÅUIKb]V]Ã^·;\ DFbYIK\IK\;ÈCOX*ÍUÈ\"·bYIKIK\NJÅbsQ^V]\;Q·\NuGKÌ^X*QbYQ^\N[V]\;Ö^QU\VÍ Ç DFbYIK\GKIKXsV]CHGJCEbYQ^XY`DF\4X*Q^N;ÈMÚÁ ·bYÃÎKNJ\*RMDX*Q Ç N Ç NlGK\;DN=GKÌ^XGIK\ÏrÃUCEIJ\·;bYIKIJ\4NPÅMbYQV]\;Q^·;\N&VUbÃ^NJ\bYGJÌU\I·bsQ^NPGJIxX*CEQrGKN=GKb NPÃ^··\4NJNPÁÂÃUÈ` Ç V]CONKX*DÍUCE¸YÃ^X*GJ\GJÌU\DXGx·xÌU\N ×Û;ÜYÙ¤R]× ÝÙ«ÈãabWu\ Ê \;IR;\;¶rGKIKXs·GKCHQ^¸=ÁÂ\XGKÃUIK\NGJÌ^X*G X*IK\"NKX*ÈCE\;QrGXs·;·;bYIxV]CEQU¸ GJb~bsÃUI[V]\Ö^Q^CGKCEbYQ:·X*Q:Í\X+Ã^NJ\ÁÂÃU`áÅÎJ\ÅUIJb]·;\NKNPCEQU¸NPGJ\ÅSRUW[ÌUCO·xÌ DX Ç CEDFÅUIKb Ê \GKÌU\~b Ê \IKXY`H`XY·;·;ÃUIxXY· Ç bYÁNJÃ^·xÌ§N Ç NlGK\;DN"X*Q^V§CHG"DX Ç IJ\4V]Ã^·;\+GKÌU\+GJCEDF\ IJ\4ÏsÃ^CHIK\VÁÂbYI&V]CONKX*DÍUCE¸YÃ^X*GJCEQU¸"GJÌ^\ DXGK·xÌ^\N;È Pµ á® ¯ ¯]³° ³&¯ lµ S° à=ÌU\§ÅÎJbsÍUÈ\;D b*ÁÖ^QV]CEQU¸êbsÃ]GJÈCE\;IxNFCEQ ÌUCE¸YÌUÆV]CEDF\Q^NPCEbsQ^X*`[VUX*GKXêNJ\GxNX*IKCENJ\NCHQ VUXGxX DFCHQ^CHQ^¸UÈÔÕGCEN XsNJNJÃUDF\4V3GJÌXGÅMbYCEQrGKNCEQÞXVUX*GKX3NJ\G ÁÂbsIJD ·;ÈÃ^NlGK\;IxNRáXYQ^VÞbYÃ]GK`HCE\IKN"X*IK\ ÅbsCHQrGxN[GJÌXGV]b:QUb*GÍ\`HbsQU¸FGKbX*Q Ç b*Á$GJÌU\·ÈÃ^NPGJ\IKN;È^ÕjQ3GKÌU\+·;bYQrGJ\;¶rGb*Á2VUX*GKXFDFCEQUCEQU¸ bYÃ]GK`HCE\IKN+IJ\ÅUIK\NJ\;QrGÃ^QrÃNPÃ^XY`&·;XsNP\4NR NJÃ^·xÌ XsNÁÂIKXYÃ^V X*Q^V@b*GKÌU\;I·;IJCEDFCEQ^X*`XY·GJC Ê CG Ç CEQ \Æj·bYDFDF\IK·;\*È aXãW[ËgCEQ^N[× ÜYÙÔVU\Ö^QU\4N2XYQFbYÃ]GK`HCE\I2XYN sX*QFbsÍ^NP\I X*GJCEbYQ+GJÌ^X*GV]\ CEX*GJ\4N NPbD+Ã^·xÌÁÂIKbYD b*GJÌ^\;IbsÍ^NJ\;I Ê X*GJCEbYQN XYNGJbÄXYIJbsÃ^NP\:NPÃ^NJÅUCO·CEbsQÄGKÌ^XÊ GCG+WXsN¸Y\QU\;IxÊ XGK\V£Í Ç XÄV]CÔ\;IK\;QrG DF\·xÌ^XYQUCONPDÈ !ÚQÞGJÌ^\b*GKÌU\;I Ì^XYQ^VÔRGJÌU\WbYIxVê¹º*»y¼¾½;¿À CON V]\;Ö^QU\4V£Í Ç GJÌU\âÞ\Í^NlGK\;I N BCO·GKCEbYQ^XYI XsNåMÓJæ+¼O¿Ô½¿MÀÂÈsÕG2CONGJÌU\&bsÅUCEQUCEbYQ+b*ÁÔGJÌU\&XYÃ]GJÌ^bYIxN$GJÌ^X*GGJÌU\&GlWubV]\;Ö^QUCHGJCEbsQ^N IJ\4X*È` Ç ÅMbYCEÇ QrG~GJbÞGJÌ^\ÄNJXYDF\!·;bYQ^·;\;Å]GÈ2ÕjQ Å^X*IJGJCO·;ÃUÒX*IRX£DÃU`HGJCHÆVUCHDF\Q^NJCHbYQ^X*` NJÅ^XY·;\b*Á CHDXY¸Y\ÁÂ\4XGKÃUIJ\4NCENIK\X*È` Q^b*GJÌ^CHQ^¸DFbYIK\ GKÌ^X*Q~XÈXYIJ¸s\2VUX*GKXNJ\GÈ*ÕjQrGJÃUCHGJC \;` W\·X*QNP\\ GJÌ^X*G ÁÂ\X*GJÃUIK\NNJCEDFCHÒXYIáGJÇ b DXYQ Ç b*GKÌU\;IxN$WubsÃUÒVÁÂbsIJDñ·ÈÃ^NPGJ\IKN;R*W[ÌUCEÈ\=VUCEÊNPGJCEQ^Ç ·G$ÁÂ\XGKÃUIK\N;R W[ÌUCO·xÌ:W\DFCH¸sÌrG·;XYÈ`$¹º*»y¼¾½;¿À¾R^WubsÃUÒVÍM\GJÌU\ bsÃ]GJÈCE\;IxN;È ÕjQ ·;bYQrGJIxXYNPG;RubYQU\/·;bYÃUÒV X*ÒNPb£\;¶]XYDFCEQU\GKÌU\Ä·;`HÃNlGK\;IxNGJÌ^X*G\¶]CONlGFCEQ GJÌU\/ÁÂ\XGKÃUIK\ NPÅ^Xs·\YRSXsNbYÅUÅMbsNJ\V/GJb!GJÌ^\bsÃ]GJÈCE\;IxN;!È X*GPGJ\IJQN&ÁÂbsIJDF\4V/Í Ç GJÌU\4NP\F·;`HÃNlGK\;IxN"XYÒNPb!·;X*IKI Ç CHQUÁÂbYIKDXGJCEbsQX*ÍMbYÃUGGJÌ^\XYÅUÅ\4X*IxX*Q^·;\b*Á]GKÌU\NK·\QU\ CEQXYQ CHDXY¸Y\YRX*Q^VDX Ç ÍM\2Ã^NJ\ÁÂÃU`rÁÂbsI IJ\4·bY¸sQUCHGJCEbYQá#È "]Ã^·xÌX*QXYÅUÅUIKbsXs·xÌWbYÃUÒV"ÍM\uNJCHDFCEÒX*IGJb&GJÌU\uÌUCONlGKbY¸YIxX*D~ÆÍ^XsNP\4V=GJ\4·xÌUQUCOÏrÃU\ V]\NK·IKCEÍ\4VÄCEQ ×%Û $Ù«RáW[ÌUCO·xÌ§ÃNP\4NGJÌU\¸YÈbYÍ^XY`V]CONlGKIJCEÍUÃ]GKCEbYQÄbYÁ=VU&C Ô\;IK\;QrGKCEXY`ÁÂ\XGKÃUIK\NÁÂbsI IJ\4·bY¸sQUCHGJCEbYQáÈ4a&bW\ Ê \;IRãGJÌUCON$Å^XYÅ\I V]\XYÈNW[CHGJÌÅMbYCEQrGÁÂ\4XGJÃÎJ\4NR*W[ÌUCO·xÌDX Ç Í\[Ã^NJ\VCEQ X*ÅUÅUÈCO·;X*GJCEbYQN=b*GJÌ^\;IGJÌ^XYQ/bYÍ]Îl\4·G"IJ\4·bY¸sQUCHGJCEbYQáRNPÃ·xÌÄXYN"NlGK\;IK\;bDX*GK·xÌUCEQU¸XYQ^V3bsÍ]Îl\·G V]\GK\·GKCEbYQSÈ $bYCEQrGÁÂ\4XGKÃUIJ\§·bYIKIK\NJÅbsQ^V]\;Q·\NFXYÒNPb£b Ô\;I:WX Ç N~GKbIK\·b Ê \;I~GKÌU\3GJÌÎJ\\ V]CEDF\;Q^NJCEbYQ^XY`NPGJIKÃ^·GKÃUIJ\FbYÁNK·\QU\N XYQ^VÞbYÍ]Îl\4·GKN;RáW[ÌUCO·xÌÞCENQ^b*GÅMbsNKNPCEÍUÈ\W[CHGKÌ§ÅUÃÎJ\` Ç X*ÅUÅM\XYIKXYQ^·\;Æ«Í^XsNP\4V~X*ÅUÅUIKbsXs·xÌU\N;Èsà=ÌU\IJ\;ÁÂbYIK\*RrCGuCEN2QUb*GuGJÌU\·ÈÃ^NPGJ\IJCEQU¸^R*ÍUÃ]GGJÌU\bYÃ]GKÈCH\I V]\GK\·GKCEbYQX*È¸YbsIJCHGJÌ^DN$GJÌ^X*G&CEQsGK\;IK\NPGÃNÈ ÕjQGJÌ^CENuÅ^XYÅ\IuW\\;¶UX*DFCEQU\=GlWb+NJÃ^·xÌ:XY`H¸sbYIKCHGJÌUD(N 'ãGJÌU\ V]CONPGKX*Q·\ÆÍ^XsNP\4*V ),+,-/.01),2 NJ·xÌU\DF\× ëãÙ«RSXYQ^V3GKÌU\~Láb]·;XY`ÚÃ]GKÈCH\4I 3^Xs·GKbYIX*ÅUÅUIKbsXs·xÌ×Û;Ù¤ÈMâ£\W[CEÈ`NJÌUbW GJÌXGW[CGKÌ DFCHQ^bYIFDFb]V]CHÖ·;X*GJCEbYQNÍMb*GKÌX*IK\/X*ÅUÅ^`HCO·X*ÍUÈ\:GJbìbYÃÎÅUIKbYÍUÈ\DR2X*Q^V@GJÌXGGKÌU\/ÒXGJGJ\I Ç CE\ÈV^NuNJÃUÅM\;IKCHbsI=IJ\4NPÃU`HGxNÈ 5 67 8¯ : ² 9 ±j B } B

}uvxvKqshPfvJ¥+oHnh2¥Ym*ilsdKilwyv[rfiPf

120 "corners" "edges" "naive" "lof"

100 80 60 40 20 0 0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

2

^^ sd=hldKoEdJhldxmrvxd&f;mg+iPfhl4dKi2wykfdxoEn;huiPf;jî

MÔ sdwykf;4degfw¦hl A@4vxnîã4d sz4YhlwyyhszfmrO4rynvPî*>$E ª w¦ilmB o jdx¦oH¾vxnmrjwyildxmi[lf;wydxmi oHdf;ilqYhldx2dK©*ijhPfvKildqrjwymrô| =ï rd[vxw¦hlvxydxrjwGKdxuvKnhjhldxje]nmg+iln"oHdf;ilqYhldxgjvxfydxx