1. Image Mosaicing with Motion Segmentation from Video Augusto Roman, Taly Gilat EE392J Final Project 03/20/01

2. Project Goal To create a single panoramic image from a sequence of video framesTo create a single panoramic image from a sequence of video frames Align frames using motion estimationAlign frames using motion estimation

3. The Wang Adelson Algorithm Dense MV is gold standard estimate for each pixelDense MV is gold standard estimate for each pixel Estimate region motionEstimate region motion Segment regions based on motionsSegment regions based on motions IterateIterate

4. Dense Motion Estimation Need a motion vector for every pixel.Need a motion vector for every pixel. Full search block matching is far too slow (more than 2 hours per frame pair!)Full search block matching is far too slow (more than 2 hours per frame pair!) Phase Correlation used to estimate motionPhase Correlation used to estimate motion Results in a few possible motions for each block.Results in a few possible motions for each block. For each pixel in the center of the block, test with each of the possible motions and choose the motion with the smallest MSE.For each pixel in the center of the block, test with each of the possible motions and choose the motion with the smallest MSE. Shift block by small amount and compute new phase correlation and repeat.Shift block by small amount and compute new phase correlation and repeat. Much faster! ~30 sec per frame pair!Much faster! ~30 sec per frame pair!

5. Phase Correlation Given a block B 1,B 2 from each imageGiven a block B 1,B 2 from each image Compute 2D FFT of eachCompute 2D FFT of each Compute cross-power spectrumCompute cross-power spectrum Normalized value of: F{B 1 } F{B 2 } *Normalized value of: F{B 1 } F{B 2 } * Take IFFT to get Phase Correlation FunctionTake IFFT to get Phase Correlation Function This is very similar to the correlation function between the two blocksThis is very similar to the correlation function between the two blocks

6. Motion Vectors vs Motions Hypothesis There are a number of different motion hypotheses available.There are a number of different motion hypotheses available. In theory, each of these hypothesis corresponds to a distinct motion in the video. Each pixel is assigned to the motion hypothesis that most closely approximates its motion vector.Each pixel is assigned to the motion hypothesis that most closely approximates its motion vector. This segments the frame into distinct regions, one for each motion hypothesis.This segments the frame into distinct regions, one for each motion hypothesis.

7. Motion Hypothesis Generation For each region want motion hypothesis that best represents all pixel motions in that region.For each region want motion hypothesis that best represents all pixel motions in that region. Least squares fit to find best affine motion parameter in a regionLeast squares fit to find best affine motion parameter in a region First iteration initialized with blocksFirst iteration initialized with blocks

8. Motion Hypothesis Refinement K-means used to cluster motion hypothesesK-means used to cluster motion hypotheses K unknownK unknown Empty clusters removedEmpty clusters removed Large clusters split to maintain minimum k valueLarge clusters split to maintain minimum k value

9. Region Segmentation For each pixel compare hypotheses to dense MV Find closest hypothesis Group all pixels represented by a motion hypothesis into a region Pixels with large error unassigned Hypotheses without membership removed

10. Region Adjustment Region Splitter Assumes areas with same motion are connected Disconnected areas within a region are split into separate regions Increases number of hypotheses for k-means Region Filter Small regions give poor motion estimates Remove all regions with area below threshold Disconnected objects with same motion will be merged at next segmentation step

11. Segmentation Results Frame 1Frame 2

12. Segmentation Results Initial SegmentationIteration 1Iteration 2 Iteration 3Iteration 5Iteration 7

13. The Whole Enchilada The dense motion estimate, region segmentation and motion estimation performed for all frames pairs. For first pair, segmentation initialized to blocks and k-means initialized to lattice in 6D affine space. Subsequent frame pairs initialized with final segmentation and motion hypotheses from previous frame pair.

14. Layer Synthesis Motion estimates relate each frame only to the previous frame Frames are projected onto first video frame Cumulative projection kept in 3x3 transformation matrix Layers are not necessarily ordered similarly between frames Assumed largest layer is background Median taken of all values projected to each pixel in final image

15. Implementation Difficulties Parameter tweaking Phase Correlation Attempted to focus on textured areas of image Initial test videos lacked texture Registering layers across frames Cumulative motion error Resolution loss in final panoramic

16. Results

17. Results

18. Results

19. Results

20. Results

21. Results

22. Results

23. Conclusions Nice panoramas Moving objects removed Future improvements – – Sub-pixel dense motion estimation – – More accurate segmentation – – Region registration across frame