Popular Hough Transform-based object detection approaches usually construct an appearance codebook by clustering local image features. However, how to choose appropriate values for the parameters used in the clustering step remains an open problem. Moreover, some popular histogram features extracted from overlapping image blocks may cause a high degree of redundancy and multicollinearity. In this paper, we propose a novel Hough Transform-based object detection approach. First, to address the above issues, we exploit a Bridge Partial Least Squares (BPLS) technique to establish context-encoded Hough Regression Models (HRMs), which are linear regression models that cast probabilistic Hough votes to predict object locations. BPLS is an efficient variant of Partial Least Squares (PLS). PLS-based regression techniques (including BPLS) can reduce the redundancy and eliminate the multicollinearity of a feature set. And the appropriate value of the only parameter used in PLS (i.e., the number of latent components) can be determined by using a cross-validation procedure. Second, to efficiently handle object scale changes, we propose a novel multi-scale voting scheme. In this scheme, multiple Hough images corresponding to multiple object scales can be obtained simultaneously. Third, an object in a test image may correspond to multiple true and false positive hypotheses at different scales. Based on the proposed multi-scale voting scheme, a principled strategy is proposed to fuse hypotheses to reduce false positives by evaluating normalized pointwise mutual information between hypotheses. In the experiments, we also compare the proposed HRM approach with its several variants to evaluate the influences of its components on its performance. Experimental results show that the proposed HRM approach has achieved desirable performances on popular benchmark datasets.
Sliding window and Hough Transform are two major frameworks used in many visual object detection approaches. Owing to the significant work of @cite_15 (i.e., the ISM approach), the Hough Transform framework becomes more and more popular in detecting irregular-shaped and articulated objects @cite_22 @cite_14 @cite_23 @cite_6 @cite_2 @cite_20 @cite_11 @cite_0 @cite_7 @cite_18 @cite_17 @cite_31 . The ISM approach extracts local features from objects in training images. The spacial relationship between each local feature and its corresponding object center is recorded as a voting vector. All the extracted local features are clustered, and the obtained cluster centers form an appearance codebook. Any local feature in a test image is matched to the codebook. The recorded voting vectors corresponding to the activated codebook entries are used to cast Hough votes. The partISM approach @cite_23 and voting line-based approach @cite_18 also build up a codebook by clustering local features. In @cite_23 , the parts of a pedestrian are detected independently. The spacial relationship between each part and the center of a pedestrian is learned to predict the locations of pedestrians in test images.
@cite_18 @cite_14 @cite_31 @cite_22 @cite_7 @cite_17 @cite_6 @cite_0 @cite_23 @cite_2 @cite_15 @cite_20 @cite_11
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This paper addresses the task of efficient object class detection by means of the Hough transform. This approach has been made popular by the Implicit Shape Model (ISM) and has been adopted many times. Although ISM exhibits robust detection performance, its probabilistic formulation is unsatisfactory. The PRincipled Implicit Shape Model (PRISM) overcomes these problems by interpreting Hough voting as a dual implementation of linear sliding-window detection. It thereby gives a sound justification to the voting procedure and imposes minimal constraints. We demonstrate PRISM's flexibility by two complementary implementations: a generatively trained Gaussian Mixture Model as well as a discriminatively trained histogram approach. Both systems achieve state-of-the-art performance. Detections are found by gradient-based or branch and bound search, respectively. The latter greatly benefits from PRISM's feature-centric view. It thereby avoids the unfavourable memory trade-off and any on-line pre-processing of the original Efficient Subwindow Search (ESS). Moreover, our approach takes account of the features' scale value while ESS does not. Finally, we show how to avoid soft-matching and spatial pyramid descriptors during detection without losing their positive effect. This makes algorithms simpler and faster. Both are possible if the object model is properly regularised and we discuss a modification of SVMs which allows for doing so. We present a method for the detection of instances of an object class, such as cars or pedestrians, in natural images. Similarly to some previous works, this is accomplished via generalized Hough transform, where the detections of individual object parts cast probabilistic votes for possible locations of the centroid of the whole object; the detection hypotheses then correspond to the maxima of the Hough image that accumulates the votes from all parts. However, whereas the previous methods detect object parts using generative codebooks of part appearances, we take a more discriminative approach to object part detection. Towards this end, we train a class-specific Hough forest, which is a random forest that directly maps the image patch appearance to the probabilistic vote about the possible location of the object centroid. We demonstrate that Hough forests improve the results of the Hough-transform object detection significantly and achieve state-of-the-art performance for several classes and datasets. This paper proposes an efficient and effective scheme to applying the sliding window approach popular in computer vision to 3D data. Specifically, the sparse nature of the problem is exploited via a voting scheme to enable a search through all putative object locations at any orientation. We prove that this voting scheme is mathematically equivalent to a convolution on a sparse feature grid and thus enables the processing, in full 3D, of any point cloud irrespective of the number of vantage points required to construct it. As such it is versatile enough to operate on data from popular 3D laser scanners such as a Velodyne as well as on 3D data obtained from increasingly popular push-broom configurations. Our approach is “embarrassingly parallelisable” and capable of processing a point cloud containing over 100K points at eight orientations in less than 0.5s. For the object classes car, pedestrian and bicyclist the resulting detector achieves best-in-class detection and timing performance relative to prior art on the KITTI dataset as well as compared to another existing 3D object detection approach. We present a discriminative Hough transform based object detector where each local part casts a weighted vote for the possible locations of the object center. We show that the weights can be learned in a max-margin framework which directly optimizes the classification performance. The discriminative training takes into account both the codebook appearance and the spatial distribution of its position with respect to the object center to derive its importance. On various datasets we show that the discriminative training improves the Hough detector. Combined with a verification step using a SVM based classifier, our approach achieves a detection rate of 91.9 at 0.3 false positives per image on the ETHZ shape dataset, a significant improvement over the state of the art, while running the verification step on at least an order of magnitude fewer windows than in a sliding window approach. To detect multiple objects of interest, the methods based on Hough transform use non-maxima supression or mode seeking in order to locate and to distinguish peaks in Hough images. Such postprocessing requires tuning of extra parameters and is often fragile, especially when objects of interest tend to be closely located. In the paper, we develop a new probabilistic framework that is in many ways related to Hough transform, sharing its simplicity and wide applicability. At the same time, the framework bypasses the problem of multiple peaks identification in Hough images, and permits detection of multiple objects without invoking nonmaximum suppression heuristics. As a result, the experiments demonstrate a significant improvement in detection accuracy both for the classical task of straight line detection and for a more modern category-level (pedestrian) detection problem. Hough transform-based methods for detecting multiple objects use nonmaxima suppression or mode seeking to locate and distinguish peaks in Hough images. Such postprocessing requires the tuning of many parameters and is often fragile, especially when objects are located spatially close to each other. In this paper, we develop a new probabilistic framework for object detection which is related to the Hough transform. It shares the simplicity and wide applicability of the Hough transform but, at the same time, bypasses the problem of multiple peak identification in Hough images and permits detection of multiple objects without invoking nonmaximum suppression heuristics. Our experiments demonstrate that this method results in a significant improvement in detection accuracy both for the classical task of straight line detection and for a more modern category-level (pedestrian) detection problem. The Hough transform is a popular technique used in the field of image processing and computer vision. With a Hough transform technique, not only the normal angle and distance of a line but also the line-segment’s length and midpoint (centroid) can be extracted by analysing the voting distribution around a peak in the Hough space. In this paper, a method based on minimum-entropy analysis is proposed to extract the set of parameters of a line segment. In each column around a peak in Hough space, the voting values specify probabilistic distributions. The corresponding entropies and statistical means are computed. The line-segment’s normal angle and length are simultaneously computed by fitting a quadratic polynomial curve to the voting entropies. The line-segment’s midpoint and normal distance are computed by fitting and interpolating a linear curve to the voting means. The proposed method is tested on simulated images for detection accuracy by providing comparative results. Experimental results on real-world images verify the method as well. The proposed method for line-segment detection is both accurate and robust in the presence of quantization error, background noise, or pixel disturbances. Hough transform based methods for object detection work by allowing image features to vote for the location of the object. While this representation allows for parts observed in different training instances to support a single object hypothesis, it also produces false positives by accumulating votes that are consistent in location but inconsistent in other properties like pose, color, shape or type. In this work, we propose to augment the Hough transform with latent variables in order to enforce consistency among votes. To this end, only votes that agree on the assignment of the latent variable are allowed to support a single hypothesis. For training a Latent Hough Transform (LHT) model, we propose a learning scheme that exploits the linearity of the Hough transform based methods. Our experiments on two datasets including the challenging PASCAL VOC 2007 benchmark show that our method outperforms traditional Hough transform based methods leading to state-of-the-art performance on some categories. Hough voting methods efficiently handle the high complexity of multiscale, category-level object detection in cluttered scenes. The primary weakness of this approach is however that mutually dependent local observations are independently voting for intrinsically global object properties such as object scale. All the votes are added up to obtain object hypotheses. The assumption is thus that object hypotheses are a sum of independent part votes. Popular representation schemes are, however, based on an overlapping sampling of semi-local image features with large spatial support (e.g. SIFT or geometric blur). Features are thus mutually dependent and we incorporate these dependences into probabilistic Hough voting by presenting an objective function that combines three intimately related problems: i) grouping of mutually dependent parts, ii) solving the correspondence problem conjointly for dependent parts, and iii) finding concerted object hypotheses using extended groups rather than based on local observations alone. Experiments successfully demonstrate that state-of-the-art Hough voting and even sliding windows are significantly improved by utilizing part dependences and jointly optimizing groups, correspondences, and votes. We present a novel method for detecting instances of an object class or specific object in high-spatial-resolution optical remote sensing images. The proposed method integrates sparse representations for local-feature detection into generalized-Hough-transform object detection. Object parts are detected via class-specific sparse image representations of patches using learned target and background dictionaries, and their co-occurrence is spatially integrated by Hough voting, which enables object detection. We aim to efficiently detect target objects using a small set of positive training samples by matching essential object parts with a target dictionary while the residuals are explained by a background dictionary. Experimental results show that the proposed method achieves state-of-the-art performance for several examples including object-class detection and specific-object identification. Object detection in cluttered, natural scenes has a high complexity since many local observations compete for object hypotheses. Voting methods provide an efficient solution to this problem. When Hough voting is extended to location and scale, votes naturally become lines through scale space due to the local scale-location-ambiguity. In contrast to this, current voting methods stick to the location-only setting and cast point votes, which require local estimates of scale. Rather than searching for object hypotheses in the Hough accumulator, we propose a weighted, pairwise clustering of voting lines to obtain globally consistent hypotheses directly. In essence, we propose a hierarchical approach that is based on a sparse representation of object boundary shape. Clustering of voting lines (CVL) condenses the information from these edge points in few, globally consistent candidate hypotheses. A final verification stage concludes by refining the candidates. Experiments on the ETHZ shape dataset show that clustering voting lines significantly improves state-of-the-art Hough voting techniques. The codebooks play a decisive role in the Hough Transform based object detection. We propose a novel approach to generate the codebooks in the manner of parametric regression and integrate inside semantic information drawn from objects and background. Clustering is a popular method for deriving codebooks, but it generally relies on some parameters, which heavily affect the performance of the approaches. By exploiting Partial Least Squares and tuning only one parameter, we map the most informative latent components of an image patch directly to the displacement vectors from the possible object centroids to the patch, and obtain the Parameterized Semantic Codebook Group (PSCG). Experiments show that PSCG generates accurate voting vectors and performs superiorly on some challenging datasets. We propose a structured Hough voting method for detecting objects with heavy occlusion in indoor environments. First, we extend the Hough hypothesis space to include both object location and its visibility pattern, and design a new score function that accumulates votes for object detection and occlusion prediction. In addition, we explore the correlation between objects and their environment, building a depth-encoded object-context model based on RGB-D data. Particularly, we design a layered context representation and allow image patches from both objects and backgrounds voting for the object hypotheses. We demonstrate that using a data-driven 2.1D representation we can learn visual codebooks with better quality, and more interpretable detection results in terms of spatial relationship between objects and viewer. We test our algorithm on two challenging RGB-D datasets with significant occlusion and intraclass variation, and demonstrate the superior performance of our method.