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    Taking Derivative by Convolution

    Uploaded by

    hyfkyhj ;mnk,.

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    © All Rights Reserved
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    of 29

    Taking derivative by convolution

    Partial derivatives with convolution


    For 2D function f(x,y), the partial derivative is:
    ¶f ( x, y ) f ( x + e , y ) - f ( x, y )
    = lim
    ¶x e ®0 e
    For discrete data, we can approximate using finite
    differences:
    ¶f ( x, y ) f ( x + 1, y ) - f ( x, y )
    »
    ¶x 1
    To implement above as convolution, what would be the
    associated filter?

    Source: K. Grauman
    Partial derivatives of an image

    ¶f ( x, y ) ¶f ( x, y )
    ¶x ¶y

    -1 1
    -1 1 or
    1 -1
    Which shows changes with respect to x?
    Finite difference filters
    Other approximations of derivative filters exist:

    Source: K. Grauman
    Image gradient

    The gradient of an image:

    The gradient points in the direction of most rapid increase


    in intensity
    • How does this direction relate to the direction of the edge?

    The gradient direction is given by

    The edge strength is given by the gradient magnitude

    Source: Steve Seitz


    Image Gradient

    ¶f ( x, y ) ¶f ( x, y )
    ¶x ¶y
    Effects of noise
    Consider a single row or column of the image
    • Plotting intensity as a function of position gives a signal

    Where is the edge?


    Source: S. Seitz
    Solution: smooth first

    f*g

    d
    ( f * g)
    dx

    d
    • To find edges, look for peaks in ( f * g)
    dx Source: S. Seitz
    Derivative theorem of convolution

    This saves us one operation:


    Derivative of Gaussian filter

    * [1 -1] =
    Derivative of Gaussian filter

    x-direction y-direction

    Which one finds horizontal/vertical edges?


    Example

    input image (“Lena”)


    Compute Gradients (DoG)

    X-Derivative of Y-Derivative of Gradient Magnitude


    Gaussian Gaussian
    Get Orientation at Each Pixel
    Threshold at minimum level
    Get orientation

    theta = atan2(-gy, gx)


    MATLAB demo

    im = im2double(imread(filemane));
    g = fspecial('gaussian',15,2);
    imagesc(g);
    surfl(g);
    gim = conv2(im,g,'same');
    imagesc(conv2(im,[-1 1],'same'));
    imagesc(conv2(gim,[-1 1],'same'));
    dx = conv2(g,[-1 1],'same');
    Surfl(dx);
    imagesc(conv2(im,dx,'same'));
    Practical matters
    What is the size of the output?
    MATLAB: filter2(g, f, shape) or conv2(g,f,shape)
    • shape = ‘full’: output size is sum of sizes of f and g
    • shape = ‘same’: output size is same as f
    • shape = ‘valid’: output size is difference of sizes of f and g

    full same valid


    g g
    g g
    g g

    f f f

    g g
    g g
    g g

    Source: S. Lazebnik
    Practical matters
    What about near the edge?
    • the filter window falls off the edge of the image
    • need to extrapolate
    • methods:
    – clip filter (black)
    – wrap around
    – copy edge
    – reflect across edge

    Source: S. Marschner
    Q?
    Practical matters

    • methods (MATLAB):
    – clip filter (black): imfilter(f, g, 0)
    – wrap around: imfilter(f, g, ‘circular’)
    – copy edge: imfilter(f, g, ‘replicate’)
    – reflect across edge: imfilter(f, g, ‘symmetric’)

    Source: S. Marschner
    Review: Smoothing vs. derivative filters
    Smoothing filters
    • Gaussian: remove “high-frequency” components;
    “low-pass” filter
    • Can the values of a smoothing filter be negative?
    • What should the values sum to?
    – One: constant regions are not affected by the filter

    Derivative filters
    • Derivatives of Gaussian
    • Can the values of a derivative filter be negative?
    • What should the values sum to?
    – Zero: no response in constant regions
    • High absolute value at points of high contrast
    Template matching
    Goal: find in image

    Main challenge: What is a


    good similarity or
    distance measure
    between two patches?
    • Correlation
    • Zero-mean correlation
    • Sum Square Difference
    • Normalized Cross Correlation

    Side by Derek Hoiem


    Matching with filters
    Goal: find in image
    Method 0: filter the image with eye patch
    h[ m, n] = å g[ k , l ] f [ m + k , n + l ]
    k ,l
    f = image
    g = filter

    What went wrong?

    Input Filtered Image Side by Derek Hoiem


    Matching with filters
    Goal: find in image
    Method 1: filter the image with zero-mean eye
    h[ m, n] = å ( f [ k , l ] - f ) ( g[ m + k , n + l ] )
    k ,l mean of f

    True detections

    False
    detections

    Input Filtered Image (scaled) Thresholded Image


    Matching with filters
    Goal: find in image
    Method 2: SSD
    h[ m, n] = å ( g[ k , l ] - f [ m + k , n + l ] )2
    k ,l

    True detections

    Input 1- sqrt(SSD) Thresholded Image


    Matching with filters

    Can SSD be implemented with linear filters?


    h[ m, n] = å ( g[ k , l ] - f [ m + k , n + l ] )2
    k ,l

    Side by Derek Hoiem


    Matching with filters
    What’s the potential
    Goal: find in image downside of SSD?

    Method 2: SSD
    h[ m, n] = å ( g[ k , l ] - f [ m + k , n + l ] )2
    k ,l

    Input 1- sqrt(SSD) Side by Derek Hoiem


    Matching with filters
    Goal: find in image
    Method 3: Normalized cross-correlation
    mean template mean image patch

    å ( g[k , l ] - g )( f [m + k , n + l ] - f
    k ,l
    m ,n )
    h[ m, n] = 0.5
    æ 2ö
    çç å ( g[ k , l ] - g ) å ( f [ m + k , n + l ] - f m,n ) ÷÷
    2

    è k ,l k ,l ø

    Side by Derek Hoiem


    Matching with filters
    Goal: find in image
    Method 3: Normalized cross-correlation

    True detections

    Input Normalized X-Correlation Thresholded Image


    Matching with filters
    Goal: find in image
    Method 3: Normalized cross-correlation

    True detections

    Input Normalized X-Correlation Thresholded Image


    Q: What is the best method to use?

    A: Depends
    Zero-mean filter: fastest but not a great
    matcher
    SSD: next fastest, sensitive to overall
    intensity
    Normalized cross-correlation: slowest,
    invariant to local average intensity and
    contrast

    Side by Derek Hoiem

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