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Scale-invariant Feature Transform
The scale-invariant feature transform (SIFT) is a computer vision algorithm to detect, describe, and match local ''features'' in images, invented by David Lowe in 1999. Applications include object recognition, robotic mapping and navigation, image stitching, 3D modeling, gesture recognition, video tracking, individual identification of wildlife and match moving. SIFT keypoints of objects are first extracted from a set of reference images and stored in a database. An object is recognized in a new image by individually comparing each feature from the new image to this database and finding candidate matching features based on Euclidean distance of their feature vectors. From the full set of matches, subsets of keypoints that agree on the object and its location, scale, and orientation in the new image are identified to filter out good matches. The determination of consistent clusters is performed rapidly by using an efficient hash table implementation of the generalised Hough transf ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Computer Vision
Computer vision is an interdisciplinary scientific field that deals with how computers can gain high-level understanding from digital images or videos. From the perspective of engineering, it seeks to understand and automate tasks that the human visual system can do. Computer vision tasks include methods for acquiring, processing, analyzing and understanding digital images, and extraction of high-dimensional data from the real world in order to produce numerical or symbolic information, e.g. in the forms of decisions. Understanding in this context means the transformation of visual images (the input of the retina) into descriptions of the world that make sense to thought processes and can elicit appropriate action. This image understanding can be seen as the disentangling of symbolic information from image data using models constructed with the aid of geometry, physics, statistics, and learning theory. The scientific discipline of computer vision is concerned with the theory ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Moore–Penrose Inverse
In mathematics, and in particular linear algebra, the Moore–Penrose inverse of a matrix is the most widely known generalization of the inverse matrix. It was independently described by E. H. Moore in 1920, Arne Bjerhammar in 1951, and Roger Penrose in 1955. Earlier, Erik Ivar Fredholm had introduced the concept of a pseudoinverse of integral operators in 1903. When referring to a matrix, the term pseudoinverse, without further specification, is often used to indicate the Moore–Penrose inverse. The term generalized inverse is sometimes used as a synonym for pseudoinverse. A common use of the pseudoinverse is to compute a "best fit" ( least squares) solution to a system of linear equations that lacks a solution (see below under § Applications). Another use is to find the minimum ( Euclidean) norm solution to a system of linear equations with multiple solutions. The pseudoinverse facilitates the statement and proof of results in linear algebra. The pseudoinverse is defined a ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Vector Space
In mathematics and physics, a vector space (also called a linear space) is a set whose elements, often called ''vectors'', may be added together and multiplied ("scaled") by numbers called '' scalars''. Scalars are often real numbers, but can be complex numbers or, more generally, elements of any field. The operations of vector addition and scalar multiplication must satisfy certain requirements, called ''vector axioms''. The terms real vector space and complex vector space are often used to specify the nature of the scalars: real coordinate space or complex coordinate space. Vector spaces generalize Euclidean vectors, which allow modeling of physical quantities, such as forces and velocity, that have not only a magnitude, but also a direction. The concept of vector spaces is fundamental for linear algebra, together with the concept of matrix, which allows computing in vector spaces. This provides a concise and synthetic way for manipulating and studying systems of linear eq ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Matrix (mathematics)
In mathematics, a matrix (plural matrices) is a rectangular array or table of numbers, symbols, or expressions, arranged in rows and columns, which is used to represent a mathematical object or a property of such an object. For example, \begin1 & 9 & -13 \\20 & 5 & -6 \end is a matrix with two rows and three columns. This is often referred to as a "two by three matrix", a "-matrix", or a matrix of dimension . Without further specifications, matrices represent linear maps, and allow explicit computations in linear algebra. Therefore, the study of matrices is a large part of linear algebra, and most properties and operations of abstract linear algebra can be expressed in terms of matrices. For example, matrix multiplication represents composition of linear maps. Not all matrices are related to linear algebra. This is, in particular, the case in graph theory, of incidence matrices, and adjacency matrices. ''This article focuses on matrices related to linear algebra, and, unle ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Affine Transformation
In Euclidean geometry, an affine transformation or affinity (from the Latin, ''affinis'', "connected with") is a geometric transformation that preserves lines and parallelism, but not necessarily Euclidean distances and angles. More generally, an affine transformation is an automorphism of an affine space (Euclidean spaces are specific affine spaces), that is, a function which maps an affine space onto itself while preserving both the dimension of any affine subspaces (meaning that it sends points to points, lines to lines, planes to planes, and so on) and the ratios of the lengths of parallel line segments. Consequently, sets of parallel affine subspaces remain parallel after an affine transformation. An affine transformation does not necessarily preserve angles between lines or distances between points, though it does preserve ratios of distances between points lying on a straight line. If is the point set of an affine space, then every affine transformation on can be repre ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Linear Least Squares (mathematics)
Linear least squares (LLS) is the least squares approximation of linear functions to data. It is a set of formulations for solving statistical problems involved in linear regression, including variants for ordinary (unweighted), weighted, and generalized (correlated) residuals. Numerical methods for linear least squares include inverting the matrix of the normal equations and orthogonal decomposition methods. Main formulations The three main linear least squares formulations are: * Ordinary least squares (OLS) is the most common estimator. OLS estimates are commonly used to analyze both experimental and observational data. The OLS method minimizes the sum of squared residuals, and leads to a closed-form expression for the estimated value of the unknown parameter vector ''β'': \hat = (\mathbf^\mathsf\mathbf)^ \mathbf^\mathsf \mathbf, where \mathbf is a vector whose ''i''th element is the ''i''th observation of the dependent variable, and \mathbf is a matrix whose ''ij' ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Pose (computer Vision)
In the fields of computing and computer vision, pose (or spatial pose) represents the position and orientation of an object, usually in three dimensions. Poses are often stored internally as transformation matrices. The term “pose” is largely synonymous with the term “transform”, but a transform may often include scale, whereas pose does not. In computer vision, the pose of an object is often estimated from camera input by the process of ''pose estimation''. This information can then be used, for example, to allow a robot to manipulate an object or to avoid moving into the object based on its perceived position and orientation in the environment. Pose estimation The specific task of determining the pose of an object in an image (or stereo images, image sequence) is referred to as ''pose estimation''. The pose estimation problem can be solved in different ways depending on the image sensor configuration, and choice of methodology. Three classes of methodologies can be di ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Priority Queue
In computer science, a priority queue is an abstract data-type similar to a regular queue or stack data structure in which each element additionally has a ''priority'' associated with it. In a priority queue, an element with high priority is served before an element with low priority. In some implementations, if two elements have the same priority, they are served according to the order in which they were enqueued; in other implementations ordering of elements with the same priority remains undefined. While coders often implement priority queues with heaps, they are conceptually distinct from heaps. A priority queue is a concept like a list or a map; just as a list can be implemented with a linked list or with an array, a priority queue can be implemented with a heap or with a variety of other methods such as an unordered array. Operations A priority queue must at least support the following operations: * ''is_empty'': check whether the queue has no elements. * ''insert_wi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Heap (data Structure)
In computer science, a heap is a specialized tree-based data structure which is essentially an almost complete tree that satisfies the heap property: in a ''max heap'', for any given node C, if P is a parent node of C, then the ''key'' (the ''value'') of P is greater than or equal to the key of C. In a ''min heap'', the key of P is less than or equal to the key of C. The node at the "top" of the heap (with no parents) is called the ''root'' node. The heap is one maximally efficient implementation of an abstract data type called a priority queue, and in fact, priority queues are often referred to as "heaps", regardless of how they may be implemented. In a heap, the highest (or lowest) priority element is always stored at the root. However, a heap is not a sorted structure; it can be regarded as being partially ordered. A heap is a useful data structure when it is necessary to repeatedly remove the object with the highest (or lowest) priority, or when insertions need to be inters ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Nearest Neighbor Search
Nearest neighbor search (NNS), as a form of proximity search, is the optimization problem of finding the point in a given set that is closest (or most similar) to a given point. Closeness is typically expressed in terms of a dissimilarity function: the less similar the objects, the larger the function values. Formally, the nearest-neighbor (NN) search problem is defined as follows: given a set ''S'' of points in a space ''M'' and a query point ''q'' ∈ ''M'', find the closest point in ''S'' to ''q''. Donald Knuth in vol. 3 of ''The Art of Computer Programming'' (1973) called it the post-office problem, referring to an application of assigning to a residence the nearest post office. A direct generalization of this problem is a ''k''-NN search, where we need to find the ''k'' closest points. Most commonly ''M'' is a metric space and dissimilarity is expressed as a distance metric, which is symmetric and satisfies the triangle inequality. Even more common, ''M'' is taken ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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