[2000 CVPR] A Statistical Method for 3D Object Detection Applied to Faces and Cars

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1、AStatisticalMethodfor3DObjectDetectionAppliedtoFacesandCarsHenrySchneidermanandTakeoKanadeRoboticsInstituteCarnegieMellonUniversityPittsburgh,PA15213Abstractisspecializedtofrontalviews.Weapplytheseview-basedInthispaper,wedescribeastatisticalmethodfor3Dobjectde

2、tectorsinparallelandthencombinetheirresults.Iftherearedetection.Werepresentthestatisticsofbothobjectappear-multipledetectionsatthesameoradjacentlocations,ouranceand“non-object”appearanceusingaproductofhisto-methodchoosesthestrongestdetection.grams.Eachhistogra

3、mrepresentsthejointstatisticsofasubsetWeempiricallydeterminedthenumberoforientationstoofwaveletcoefficientsandtheirpositionontheobject.Ourmodelforeachobject.Forfacesweusetwoview-baseddetec-approachistousemanysuchhistogramsrepresentingawidetors:frontalandrightpr

4、ofile,asshownbelow.Todetectleft-varietyofvisualattributes.Usingthismethod,wehavedevel-profilefaces,weapplytherightprofiledetectortoamirror-opedthefirstalgorithmthatcanreliablydetecthumanfacesreversedinputimages.Forcarsweuseeightdetectorsaswithout-of-planerotationa

5、ndthefirstalgorithmthatcanreli-shownbelow.Again,wedetectleftsideviewsbyrunningtheablydetectpassengercarsoverawiderangeofviewpoints.sevenright-sidedetectorsonmirrorreversedimages.1.IntroductionThemainchallengeinobjectdetectionistheamountofvariationinvisualappear

6、ance.Forexample,carsvaryinshape,size,coloring,andinsmalldetailssuchasthehead-lights,grill,andtires.VisualappearancealsodependsontheFigure1.Examplesoftrainingimagesforeachfaceorientationsurroundingenvironment.Lightsourceswillvaryintheirintensity,color,andlocati

7、onwithrespecttotheobject.Nearbyobjectsmaycastshadowsontheobjectorreflectadditionallightontheobject.Theappearanceoftheobjectalsodependsonitspose;thatis,itspositionandorientationwithrespecttothecamera.Forexample,asideviewofahumanfacewilllookmuchdifferentthanafron

8、talview.AnobjectdetectormuchaccommodateallthisvariationandstilldistinguishtheobjectfromanyotherpatternthatmayoccurinthevisualFigure2.Examplesoftrainingimagesforeachcarorientationwo