Rotationally Invariant Descriptors using Intensity Order ... - IEEE Xplore

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. IEEE TRANSACTION ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 2 Abstract This paper proposes a novel method for interest region description, which pools local features based on their intensity orders in multiple support regions. Pooling by intensity orders is not only invariant to rotation and monotonic intensity changes, but also encodes ordinal information into descriptor. Two kinds of local features are used in this paper, one based on gradients and the other on intensities, hence two descriptors are obtained: MROGH and MRRID. Thanks to the intensity order pooling scheme, the two descriptors are rotation invariant without estimating a reference orientation, which appears to be a major error source for the most of existing methods, such as SIFT, SURF and DAISY. Promising experimental results on image matching and object recognition demonstrate the effectiveness of the proposed descriptors compared to state-of-the-art descriptors. Index Terms Local Image Descriptor, Rotation Invariance, Monotonic Intensity Invariance, Image Matching, Intensity Orders, SIFT. I. INTRODUCTION Local image descriptors computed from interest regions have been widely studied in computer vision. They have become more and more popular and useful for a variety of visual tasks, such as structure from motion [1]–[5], object recognition [6], classification [7] as well as panoramic stitching [8]. A good local image descriptor is expected to have high discriminative ability so that the described point can be easily distinguished from other points. Meanwhile, it should also be robust to a variety of possible image transformations, such as scale, rotation, blur, illumination and viewpoint changes, so that the corresponding points can be easily matched across images which are captured under different imaging conditions. Improving distinctiveness while maintaining robustness is the main concern in the design of local image descriptors. In this paper, we focus on designing local image descriptors for interest regions. Interest regions are usually detected as affine invariant regions (e.g., Hessian-Affine and Harris- Affine regions [9]) and represented by ellipses, which can be normalized to a canonical region by mapping the corresponding ellipses onto a circle. Such an affine normalization procedure has a rotation ambiguity. In order to alleviate this problem, researchers either designed rotationally invariant descriptors [10]–[13] or rotated the canonical/normalized region according to November 26, 2011 DRAFT
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. IEEE TRANSACTION ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 3 (a) By SIFT descriptor (b) By our proposed descriptor (MROGH) Fig. 1. Matching results of corresponding points which have large orientation estimation errors (≥ 20 o ) by (a) SIFT and (b) our proposed descriptor. The corresponding points that are matched by their descriptors are marked with red lines while yellow lines indicate those corresponding points that are un-matchable by their descriptors. Most of these corresponding points can be correctly matched by our proposed descriptor (MROGH), but few of them can be correctly matched by SIFT. an estimated reference orientation of the interest region, such as [6], [14]–[16]. The former achieves rotation invariance at the expense of degrading discriminative ability since this kind of descriptor usually loses some important spatial information, while the latter suffers from the potential instability of orientation estimation. This paper proposes a novel method for descriptor construction. By using gradient-based and intensity-based local features, two local image descriptors are obtained, MROGH (Multi- Support Region Order-Based Gradient Histogram) and MRRID (Multi-Support Region Rotation and Intensity Monotonic Invariant Descriptor). They are rotation invariant without relying on a reference orientation and still have high discriminative ability. Therefore, they possess the advantages of the existing two kinds of descriptors, but effectively avoid their disadvantages. Our main contributions include: • A comprehensive reliability analysis of orientation estimation is reported in Section III. We found that the orientation estimation error is one of the major sources of the false negatives (the true corresponding points that are not matched by their descriptors). Since our proposed descriptors calculate local features without resorting to a reference orientation, they are more reliable than those descriptors which rely on a reference orientation for rotation invariance. • The rotation invariant local features are pooled together based on their intensity orders. Since such a pooling scheme is rotation invariant, the constructed descriptors are rotation November 26, 2011 DRAFT
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