Transcript Computer Vision - University of Chicago

N-gram Models
CMSC 25000
Artificial Intelligence
March 1, 2005
Markov Assumptions
• Exact computation requires too much data
• Approximate probability given all prior wds
– Assume finite history
– Bigram: Probability of word given 1 previous
• First-order Markov
– Trigram: Probability of word given 2 previous
• N-gram approximation
P(wn | w1n1 )  P(wn | wnn1N 1 )
n
Bigram sequence
P( w )   P( wk | wk 1 )
n
1
k 1
Evaluating n-gram models
• Entropy & Perplexity
– Information theoretic measures
– Measures information in grammar or fit to data
– Conceptually, lower bound on # bits to encode
• Entropy: H(X): X is a random var, p: prob fn
H ( X )    p( x) log2 p( x)
xX
• Perplexity:
2
H
– Weighted average of number of choices
Perplexity Model Comparison
• Compare models with different history
• Train models
– 38 million words – Wall Street Journal
• Compute perplexity on held-out test set
– 1.5 million words (~20K unique, smoothed)
• N-gram Order | Perplexity
– Unigram
– Bigram
– Trigram
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962
170
109
Does the model improve?
• Compute probability of data under model
– Compute perplexity
• Relative measure
– Decrease toward optimum?
– Lower than competing model?
Iter
P(data)
Perplex
0
1
2
3
4
5
6
9
10
9^-19
1^-16
2^-16
3^-16
4^-16
4^-16
4^-16
5^-16
5^-16
3.393
2.95
2.88
2.85
2.84
2.83
2.83
2.8272
2.8271
Entropy of English
• Shannon’s experiment
– Subjects guess strings of letters, count guesses
– Entropy of guess seq = Entropy of letter seq
– 1.3 bits; Restricted text
• Build stochastic model on text & compute
– Brown computed trigram model on varied corpus
– Compute (per-char) entropy of model
– 1.75 bits
Using N-grams
• Language Identification
– Take text samples
• English, French, Spanish, German
– Build character tri-gram models
– Test Sample: Compute maximum likelihood
• Best match is chosen language
• Authorship attribution
Sequence Models in Modern AI
• Probabilistic sequence models:
– HMMs, N-grams
– Train from available data
• Classification with contextual influence
– Robust to noise/variability
• E.g. Sentences vary in degrees of acceptability
– Provides ranking of sequence quality
– Exploits large scale data, storage, memory, CPU
Computer Vision
CMSC 25000
Artificial Intelligence
March 1, 2005
Roadmap
• Motivation
– Computer vision applications
• Is a Picture worth a thousand words?
– Low level features
• Feature extraction: intensity, color
– High level features
• Top-down constraint: shape from stereo, motion,..
• Case Study: Vision as Modern AI
– Fast, robust face detection (Viola & Jones 2002)
Perception
• From observation to facts about world
– Analogous to speech recognition
– Stimulus (Percept) S, World W
• S = g(W)
– Recognition: Derive world from percept
• W=g’(S)
• Is this possible?
Key Perception Problem
• Massive ambiguity
– Optical illusions
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Occlusion
Depth perception
“Objects are closer than they appear”
Is it full-sized or a miniature model?
Image Ambiguity
Handling Uncertainty
• Identify single perfect correct solution
– Impossible!
• Noise, ambiguity, complexity
• Solution:
– Probabilistic model
– P(W|S) = αP(S|W) P(W)
• Maximize image probability and model probability
Handling Complexity
• Don’t solve the whole problem
– Don’t recover every object/position/color…
• Solve restricted problem
– Find all the faces
– Recognize a person
– Align two images
Modern Computer Vision
Applications
• Face / Object detection
• Medical image registration
• Face recognition
• Object tracking
Vision Subsystems
Image Formation
Images and Representations
• Initially pixel images
– Image as NxM matrix of pixel values
– Alternate image codings
• Grey-scale intensity values
• Color encoding: intensities of RGB values
Images
Grey-scale Images
Color Images
Image Features
• Grey-scale and color intensities
– Directly access image signal values
– Large number of measures
• Possibly noisy
• Only care about intensities as cues to world
• Image Features:
– Mid-level representation
– Extract from raw intensities
– Capture elements of interest for image understanding
Edge Detection
Edge Detection
• Find sharp demarcations in intensity
• 1) Apply spatially oriented filters
• E.g. vertical, horizontal, diagonal
• 2) Label above-threshold pixels with edge orientation
• 3) Combine edge segments with same orientation:
line
Top-down Constraints
• Goal: Extract objects from images
– Approach: apply knowledge about how the world
works to identify coherent objects; reconstruct 3D
Motion: Optical Flow
• Find correspondences
in sequential images
– Units which move
together represent
objects
Stereo
Texture and Shading
Edge-Based 2-3D Reconstruction
Assume world of solid polyhedra with 3-edge vertices
Apply Waltz line labeling – via Constration Satisfaction
Summary
• Vision is hard:
– Noise, ambiguity, complexity
• Prior knowledge is essential to constrain problem
– Cohesion of objects, optics, object features
• Combine multiple cues
– Motion, stereo, shading, texture,
• Image/object matching:
– Library: features, lines, edges, etc
• Apply domain knowledge: Optics
• Apply machine learning: NN, NN, CSP, etc
Computer Vision Case Study
• “Rapid Object Detection using a Boosted
Cascade of Simple Features”, Viola/Jones ’01
• Challenge:
– Object detection:
• Find all faces in an arbitrary images
– Real-time execution
• 15 frames per second
– Need simple features, classifiers
Rapid Object Detection Overview
• Fast detection with simple local features
– Simple fast feature extraction
• Small number of computations per pixel
• Rectangular features
– Feature selection with Adaboost
• Sequential feature refinement
– Cascade of classifiers
• Increasingly complex classifiers
• Repeatedly rule out non-object areas
Picking Features
• What cues do we use for object detection?
– Not direct pixel intensities
– Features
• Can encode task specific domain knowledge (bias)
– Difficult to learn directly from data
– Reduce training set size
• Feature system can speed processing
Rectangle Features
• Treat rectangles as units
– Derive statistics
• Two-rectangle features
– Two similar rectangular regions
• Vertically or horizontally adjacent
– Sum pixels in each region
• Compute difference between regions
Rectangle Features II
• Three-rectangle features
– 3 similar rectangles: horizontally/vertically
• Sum outside rectangles
• Subtract from center region
• Four-rectangle features
– Compute difference between diagonal pairs
• HUGE feature set: ~180,000
Rectangle Features
Computing Features Efficiently
• Fast detection requires fast feature calculation
• Rapidly compute intermediate representation
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“Integral image”
Value for point (x,y) is sum of pixels above, left
ii(x,y) = Σx’<=x,y’<=y i(x,y)
Computed by recurrence
• s(x,y) = s(x,y-1) + i(x,y) , where s(x,y) cumulative row
• ii(x,y) = ii(x-1,y) + s(x,y)
• Compute rectangle sum with 4 array references
Rectangle Feature Summary
• Rectangle features
– Relatively simple
– Sensitive to bars, edges, simple structure
• Coarse
– Rich enough for effective learning
– Efficiently computable
Learning an Image Classifier
• Supervised training: +/- examples
• Many learning approaches possible
• Adaboost:
– Selects features AND trains classifier
– Improves performance of simple classifiers
• Guaranteed to converge exponentially rapidly
– Basic idea: Simple classifier
• Boosts performance by focusing on previous errors
Feature Selection and Training
• Goal: Pick only useful features from 180000
– Idea: Small number of features effective
• Learner selects single feature that best
separates +/- ve examples
– Learner selects optimal threshold for each feature
– Classifier h(x) = 1 if pf(x)<pθ, 0 otherwise
Basic Learning Results
• Initial classification: Frontal faces
– 200 features
– Finds 95%, 1/14000 false positive
– Very fast
• Adding features adds to computation time
• Features interpretable
– Darker region around eyes that nose/cheeks
– Eyes are darker than bridge of nose
Primary Features
“Attentional Cascade”
• Goal: Improved classification, reduced time
– Insight: Small – fast – classifiers can reject
• But have very few false negatives
– Reject majority of uninteresting regions quickly
– Focus computation on interesting regions
• Approach: “Degenerate” decision tree
• Aka “cascade”
• Positive results passed to high detection classifiers
– Negative results rejected immediately
Cascade Schematic
All Sub-window
Features
T
CL 1
F
CL 2
T
F
Reject Sub-Window
CL 3
F
T
More
Classifiers
Cascade Construction
• Each stage is a trained classifier
– Tune threshold to minimize false negatives
– Good first stage classifier
• Two feature strong classifier – eye/check + eye/nose
• Tuned: Detect 100%; 40% false positives
– Very computationally efficient
• 60 microprocessor instructions
Cascading
• Goal: Reject bad features quickly
– Most features are bad
• Reject early in processing, little effort
– Good regions will trigger full cascade
• Relatively rare
• Classification is progressively more difficult
– Rejected the most obvious cases already
• Deeper classifiers more complex, more error-prone
Cascade Training
• Tradeoffs: Accuracy vs Cost
– More accurate classifiers: more features, complex
– More features, more complex: Slower
– Difficult optimization
• Practical approach
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Each stage reduces false positive rate
Bound reduction in false pos, increase in miss
Add features to each stage until meet target
Add stages until overall effectiveness targets met
Results
• Task: Detect frontal upright faces
– Face/non-face training images
• Face: ~5000 hand-labeled instances
• Non-face: ~9500 random web-crawl, hand-checked
– Classifier characteristics:
• 38 layer cascade
• Increasing number of features: 1,10,25,… : 6061
– Classification: Average 10 features per window
• Most rejected in first 2 layers
• Process 384x288 image in 0.067 secs
Detection Tuning
• Multiple detections:
– Many subwindows around face will alert
– Create disjoint subsets
• For overlapping boundaries, only report one
– Return average of corners
• Voting:
– 3 similarly trained detectors
• Majority rules
– Improves overall
Conclusions
• Fast, robust facial detection
– Simple, easily computable features
– Simple trained classifiers
– Classification cascade allows early rejection
• Early classifiers also simple, fast
– Good overall classification in real-time
Some Results
Vision in Modern Ai
• Goals:
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Robustness
Multidomain applicability
Automatic acquisition
Speed: Real time
• Approach:
– Simple mechanisms, feature selection
– Machine learning: Tune features, classification