½ 38 ½ 2 Þ Vol. 38, No. 2 2012 2 ACTA AUTOMATICA SINICA February, 2012 Ù Grassmann» å» Ç 1, 2, 3, 4 Ó¾å 5 Ä ý Kendall» èñò ó Ù Õ, ää ÁÙµ» ì»î Ì å ǑÜ. Ù Grassmann»Ò, Åå» èñ ê,  Š٠Grassmann» å» Ç ß. ß Þ» ÇÇ» à«,» Æ èñ ;, ý»» ºµý» Õ,» ½ ã. MPEG 7» ÂÄ, Kendall» Ù Procrustean Ç ß ³, Ç ß Û ; ñ Á Ç Â èä, ß å» ó Í, ñ Í Ô Î Á Ç. ³» Ç, Grassmann», å,» èñ,» DOI 10.3724/SP.J.1004.2012.00248 Affine-invariant Shape Recognition Using Grassmann Manifold 1, 2, 3 LIU Yun-Peng 1,2, 3, 4 LI Guang-Wei 5 SHI Ze-Lin 1,2, 3 Abstract Traditional Kendall shape space theory is only applied to similar transform. However, geometric transforms of the object in the imaging process should be represented by affine transform at most situations. We analyze the nonlinear geometry structure of the affine invariant shape space and propose an affine-invariant shape recognition algorithm based on Grassmann manifold geometry. Firstly, we compute the mean shape and covariance for every shape class in the train sets. Then, we construct their norm probability models on the tangent space at each mean shape. Finally, we compute the maximum likelihood class according to the measured object and prior learned shape models. We use the proposed algorithm to recognize shapes in standard shape dataset and real images. Experiment results on MPEG-7 shape dataset show that our recognition algorithm outperforms the algorithm based on Procrustean metric in traditional Kendall shape space theory. Experiment results on real images also show that the proposed algorithm exhibits higher capacity to affine transform than the Procrustean metric based algorithm and can recognize object classes with higher posterior probability. Key words Shape recognition, Grassmann manifold, affine invariant, shape space, mean shapes Ç ü ø ñ íõå Á Æ ü Æ, íµ» Ò,,» (Shape) ðê è Æ. Ù» ² á Á àå è Ò Þ Þ, ǑÜÅ Á ï Æ,» Ç Á» ǑÇ Ç ÁÂ.» þú 2010-06-11 õ 2010-10-13 Manuscript received June 11, 2010; accepted October 13, 2010 Á (60603097), Á ÁãÅ (CXJJ-65) Supported by National Natural Science Foundation of China (60603097), National Defense Innovation Foundation of Chinese Academy Sciences (CXJJ-65) Á ä þ Recommended by Associate Editor HU Zhan-Yi 1. Á Þ 110016 2. Á ½ ² Ò û 110016 3. Û äòµ ü Ç û 110016 4. Á µ 100049 5. ã Ò ã 266071 1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016 2. Key Laboratory of Opto-Electronic Information Processing, Chinese Academy of Sciences, Shenyang 110016 3. Key Laboratory of Image Understanding and Computer Vision, Liaoning Province, Shenyang 110016 4. Graduate University of Chinese Academy of Sciences, Beijing 100049 5. Department of Management Science and Engineering, Qingdao University, Qingdao 266071 Ç ê, ¾ ÙìÍ Áã ê ä Ù.» ðä Á Æ.» èñ ùþǒ è» [1]. 20 Î 60 ã, Æ Å ÑÅ» Ò, îæ ë õ, ³ ÙÄ ÇÇ ü èå Ö ÁË. Çð, 2010 ½ 4 IEEE Transactions on Pattern Analysis and Machine Intelligence Ñ Å» ä Òµ Ö [1], Ö» Â. Ä» ³» Ñ «ð» Ç Ã.» Ä àß, Ǒ : Ù (ù º)» Ù».,». ÁË, Ù»» èñ Ò. è Kendall [2] ǑãÄ, Á» Ä
2 : Ù Grassmann» å» Ç 249 Æ, ÁÙµ Õ,» èñǒ Õ èñ,» èñ Procrustean. ³Ù» èñ ð Kendall ð ½. Zhang [3] Á Õ» üǒôá» èñ è,» Ñ «Ä»». Huckemann [4] Kendall» èñ ½»,» Þ. Han [5] Procrustean л Õ Ç ß Á. è» ð Ù» èñò Ǒ, Ç Æ Æ ðø î, Ìàßð. Ùàó Ù ÁÙµ Õ ì», ä Ä ÁÙµ» ì»î Ì å ǑÜ [6]. è Grenander [7] ǑãÄ, Á ºù Ä»,» Ä Ǒ á»,» Ñ Þ Û ðó Â., Fletcher [8] Å ñ ǑÜ Æ Á Ã. Klassen Srivastava ø» û» èñ, ûùþèñ л [9 10], ð ùþ Ë è ð Â.» º [11] Ǒðè ê» àß, è Ä Æ ½ Ë» Æ,» Þ º. àßù Å Ù øèñ Ç àß, üå» èñ ê,. ÁË í» Ã ½Å ç,  Åè» àß: ËÆ,»±», Ë Æ Ä» [12]. í Ë [13] ÁÄ Á ñ º, î» Ä Ǒ Á.» àß Ù Grenander U» èñ. ³Ù» Ç, Ò Â, Ǒ ¾, Æ áãææµ. Đ :, º Òá Æ ÄÆ áä äî, í»ùµ³ Õ»» æ Á ë Þ, Ǒ ð ½ Þ Á ÃǑ, Å Á» Ç Â [14] ;,» ðè ê», Ù øèñ Ç àßç Ù»., Ì» èñ ê,» Ç, ÐÇ Ò ÆĐ» Ã. Kendall» èñò àó Ù Õ, å ÁÙµ», å» èñ, Grassmann» Ò» Ç ß; ß å» èñ, Ð ý» ½ Bayesian Ç. ǑÅ Ý Â ß, ó MPEG 7 ÁÇ» ñ ä Â ß Kendall» èñ Ù Procrustean Ç ß ½Å ³. ½ 1 ß µ Ã, ½ 2 å» èñ, ½ 3 Å» Ç ß, ½ 4, ð. 1 à 1.1» Ä áä Á, ó Á n Ë {z 1,z 2,,z n } Á Æ,, z i = (x i,y i ) Ä è Á, Á» è n p (p = 2) Å X Ä, ó Ǒ» Å. ÔàĐ ê», rank(x) = p. 1, 1 (a) n = 60, 1(b) n = 20, Ǒ»,  ãä» (» MPEG 7» [15] ). (a) 1» Ä Fig. 1 Shape representations Ù» X 1 = {u 1,,u n } X 2 = {v 1,,v n }, Â Ú (b) u T i = Av T i + b, i = 1,,n (1), A ð 2 2 ê Å; b ð 2 1 å, û X 1» X 2 ðå. 1.2 Bayesian Ý N»,, ½ i (i = 1,,N)» C i Ð Ǒ µ i, à«ǒ Σ i, C i N(µ i,σ i ).» C i (i = 1,,N) Î P (C i ), à ٠ù» X, Bayesian ùòđ,» Ç ÞǑ Î :
250 Þ 38 Ĉ = arg max C i P (C i X) = arg max C i P (X C i )P (C i ) = arg max C i P (X C i ) (2) Ù» èñðè ê èñ, Í Ù øèñ Ç àßµ» à «;» èñ Î Á»». 2 å» èñ 2.1 Grassmann» Grassmann»Ò ð» Ò, ³» ËÆ, Đ Þ [16 17]. Grassmann» Þ ß [18] èñç [19]. Grassmann» Ù² Òëë, Ñ ÙÇ ü Ç, ËÆíµ ²² à [20] ì» Ç» [21] Đ Ã» [22]. Ǒ Å, Grassmann»ß ù þ, ³Ù Grassmann» ³ Ǒ Þ [18, 23]. ùþ 1. Grassmann» G(k,n) ð n k Å [24]. : G(k,n) = Y Ok = {Y V : V O k } (3), Y ð n k Å, Y ãä ³, V ð k k Å. Grassmann» G(k,n) Ǒ Ä Ǒ n á åèñ R n k á èñ.» M ßð Þ è p M èñ T p M ùè Ë,, Ǒ. è p G(k,n), èñǒ T p G(k,n) = {ω ω = p g,g R (n k,k)} (4) p Ǒ p. G(k,n) ùþǒ ω = tr ( ω T ω ) (5) γ : t γ (t) Ǒ γ (0) Ǒ dγ dt (0) = ω», Æ Exp p (ω) = γ (1) Å» : Exp p (ω) = pv cos (θ) + U sin (θ) (6), UθV T = SV D (ω). Æ log p (q) = UθV T, Ô θ = arctan (S), USV T = p p T q (p T q) 1., Grassmann» (p,q)»ðǒ [23] d G (p,q) = ( k i=1 θ 2 i ) 1 2 = θ 2 (7), p q Ǒ Grassmann», p q Ñ ÆǑ θ 1,,θ k, ³Ù Æ Grassmann Ð û 2. ß 1 ÅÇ Grassmann»»ÐÄ. 2 Æ Grassmann Ð Fig. 2 Principal angles and Grassmann distance ß 1. d(p,q). Å Y 1 Y 2 ;. p q Ñ»Ð; 1) Ç Y 1 Y 2 Q 1 Q 2, : p = Y 1 = Q 1, q = Y 2 = Q 2 ; 2) Ç Q T 1 Q 2 µ: USV T = SV D (Q T 1 Q 2); 3) Ç Æ θ = cos 1 S; k 4) d(p,q) = θi 2. i=1 2.2 å» èñ ó å» èñ, Grassmann». Á» Ä, (1),» X 1 = {v 1,v 2,,v n } X 2 = {u 1,u 2,,u n } å
2 : Ù Grassmann» å» Ç 251, Ǒ u 1 1 v 1 1 [ ] u V = 2 1. 1 = v 2 1 A T 0. 1 b T 1 u n 1 v n 1 (8) R 2 èñ n å 1 = [1,1,,1] T Å R n 3 á èñ V, èñ V ðå,, å» èñ Grassmann»Ä Ǒ G(3,n). Ǒ ð è» å» Grassmann» è. ùþ. ùþ 2. C 2 n ð R 2 õ n Ë {u 1,u 2,,u n } ; å A: C 2 n C 2 n, Ãå» èñð C 2 n ³Ù A C 2 n /A,. 3, χ C 2 n, à s(χ) C 2 n/a Ǒ χ è å». Ä è» Ù è. 3 C 2 n : å» èñ Fig. 3 Orbits of C 2 n: affine invariant shape space 3 Ù Grassmann»» Ç 3.1» èñî» èñç Î, Ç». Ù» èñðê èñ, Í Ù ø èñ àßç. ùþ 3.» M x 1,x 2,,x m Karcher µ ùþǒ µ = arg min x M m d(x,x i ) 2 (9) i=1, d(x,x i ) Ǒ M»Ð [24]. Þ [24] Ç (11), àßµ» ˱, ð, ó Grassmann» µ ß 2. ß 2. Mean (x 1,x 2,,x m ). x 1,x 2,,x m G(k,n);. Karcher : µ; 1) Þ µ = x 1 ; 2) Ç A = τ m m log µ (x i ); i=1 3) A < ε, µ, à ù 4); 4) : A µ, UΣV T ; µ: µ = µv cos ( ) + U sin ( ), ù 2). Ëã ßµ, ½ 2) τ ǑĐ. Ù ù ä», ß» Karcher. Ù» èñð», Í Ç Ò Ä» è Ñ.» èñ Ä Æ Ã Æ èñ, Æ èñ T µ G ùþî. Î ÒÇ, ðè. Ë, Æ á Ðù Õ Ð (ù Ô ). Ôó üâ Ǒ» èñ Î º. Ù èñðåèñ, ÁÇ» èñ, û ½ á. x 1,x 2,,x m G(k,n), µ = Mean (x 1,,x m ). Ù èñ T µ G û {v 1,v 2,,v m }, Æà«ÅǑ = 1 m log µ (x i )log µ (x j ) T (10) i,j,» èñ N(µ, ) Î ç Ǒ Σ; 1 ϕ(x) = (2π) m 2 Σ 1 2 exp ( 12 ) log µ (x)σ 1 log µ (x) T (11), N» ½ Ë ß : ß 3. Learn Shape Model (x 1,x 2,,x m ). x 1,x 2,,x m G(k,n);.» º S, íõ» µ Æà«1) ß 2 Ç» Karcher µ; 2) Ç Æà«: = 1 log m i,j µ (x i ) log µ (x j ) T ; 3) Æ à «Σ ½ Æ µ: {eigenvectors, eigenvalues} = eig (Σ). à üâ Æ Æå» Þ, Ǒ» º ½ á, Ç. 3.2» Ç ß Ù ù è» X, Ç Ä ð
252 Þ 38 Ç X Õ. ß : ß 4. Shape likelihood(x,s,k). ý» x,» º S, k. Õ f 1) ý» x å» èñã: log µ (x); 2) Ç x Ç S Mahalanobis Ð: log µ (x) Σ 1 log µ (x) T ; 3) Ç x ³ Ù Ç S Õ : 1 (2π) m 2 Σ 1 2 exp ( 1 2 log µ (x) Σ 1 log µ (x) T). 4 Ǒ Å Ý Â ß, Á Ç MPEG 7» ä ½, ß Matlab Ý, Ò Ǒ Pentium Dualcore 2.5 GHz ËĐǑ 2 GB.  ٠Grassmann» àß Þ [2 5]» Ù Procrustean àß ½Å³., MPEG 7» ½, Ä ëô, MPEG 7» [15] À Ǒ» Ç Ä ý. Ì íõ 70 Á, Þ Áíõ 20»., íõ 3D Á», ó üâ 16 º 2D Á. 4.1 MPEG 7» 4.1.1» ÐÞ Á 20» á ü 15 Ǒ, Ë» º, à 5» Ǒý.,» ½Å,» Ç» Ç. ß 2 Ç 16 Á». Þ» Ǒ 150. 1  4, ǑÅ ï, à Å Ò Á. 4 (a) Ǒ», 4(b) Ǒ Ù Grassmann Ç, 4 (c) Ǒ Ù Procrustean Ç. 5 Å (a)» (a) Trained shapes 4»  Fig. 4 Results of mean shapes (b) Grassmann (b) Grassmann mean (c) Procrustean (c) Procrustean mean 5 Grassmann Procrustean ³ ((a) Grassmann ; (b) Procrustean ) Fig. 5 Comparison of Grassmann mean and Procrustean mean ((a) Grassmann mean; (b) Procrustean mean)
2 : Ù Grassmann» å» Ç 253 16» Grassmann Procrustean. 5(a) Ǒ Ù Grassmann Ç, 5(b) Ǒ Ù Procrustean Ç. Ð 5 Û,» 6 Procrustean» µå.» 8 É»».» 11 è 6, Ð 6 Û» 11 Procrustean» µå. Ç» «, Æ, Grassmann ³ Procrustean,». (a) Grasssmann (a) Grassmann mean (b) Procrustean (b) Procrustean mean 6 è» 11 ³ Fig.6 Comparison of zoomed shape means of Shape 11 4.1.2» Ç 1 Ç 16», ó ß 3 16» ½ Ë. Þ», ó ü 6 Æà«Å á. 1 Đ, Þ» 5 ý». ß 4 ½» Ç, û å» Ç ÃǑ ½. 1) Ç ÃǑ 2, Ù 15» ðá ü,» Þè n, 10, 10 Ç Ǒ Ç, n Ð 10 150 Þ. 7 Å Ǒ 15 î,» ß 4 Ç Î. 8(a) Å ³ Â. ÁãÄ, Ô ÁãÄ Ç. ÂÄ : á Ç, ß Ç Ç, Ä 100 î, Ç Ù ù; ³, Ù 25 î Ù Grassmann» ß Ù Procrustean ß Ç, Ù 25 î, ß Ç Ù Ù Procrustean ß. 2) Ç ÃǑ» 100. ǑÅ Ý ß å, å» Á x y Ç 7 4»» (10) (11) Î Fig. 7 Four shapes and Shapes (10-11) s posterior probabilities
254 Þ 38 (a) (a) Number of samples (b) (b) Noise 8 Ç ÃǑ Fig. 8 Classification performance versus number of samples and noise Î ² ³ Ô. ² ³Ð 40 db 17.5 db Þ, Þè ² ³, 10, 10 Ç Ǒ Ç. 9 Å 4 Î ² ³Ǒ 30 db 25 db». 8(b) Å Ç ÃǑ Â. Á ãä² ³, Ô ÁãÄ Ç. ÂÄ, á Ç ß Ç ; ² ³ Ù 30 db î, Ù Grassmann» ß Ç Û Ù Ù Procrustean ß. 10 Ç Ǒ Ç. 10 Å 4 ÁÇ«Ǒ 16 20». 9 4 λ (è½î 30 db ; è½ Î 25dB ) Fig. 9 Four shapes with adding noise (The top row is the shapes with adding 30 db noise; the bottom row is the shapes with adding 25dB noise) 3) å» Ç ÃǑ Ù Grassmann» ß Ù Á å», ǑÅ Ý ß å» å, á µ å» ½»,»» ½ Ç. ó Þ [25] àßµ á å, µ á å Á Ç«Ä å». ÁÇ«Ð 2 20, ½. Þè ÁÇ«, 10, 10 4 å»» (è½ǒ» ; è½ ÁÇ«Ǒ 16; è½ ÁÇ«Ǒ 20) Fig. 10 Four affine deformation shapes (The top row is original shapes; the middle row s transform standard deviation is 16; the bottom row s transform standard deviation is 20.) 11 (a) Åå» Ç ÃǑ Â. ÁãIJ ³, Ô ÁãÄ Ç. ÂÄ, á å, Ù Procrustean ß Ç ; Ù Grassmann» ß Ç ÃǑ. î ó Å è, á å î, å» Î ² ³Ǒ 30, ½. Þè ÁÇ«, 10, 10 Ç Ǒ Ç.  11 (b). Ð 11 Û : Î, ß Æ Ç, á å, Ù Procrustean ß Ç, Ù Grassmann» ß Ç ÚïÓ Þ. û Û Å ß.
2 : Ù Grassmann» å» Ç 255 (a)» ½ (b) Î ² ³Ǒ 30 db (a) Expeiments on original shape (b) Experiments on shapes with adding 30dB noise 11 å» Ç ÃǑ Fig. 11 Classification performance versus affine deformation 4.2 ä 4.2.1» Ç» º Ǒ½ 4.1 MPEG 7 Ë» º, ý» ÃǑ ñø Á». ÙÁÇ», Đ» Ù Ã. Ùß ñ ä Á à ÇĐ àß ½ Đ. Ù ñ ä Á Á èåò àß ½ Đ. Á ð, ä Á Đ ð ËÆ. Ù 12 (a) Ò ß ñ ä, ó àß Đ Á:, ä I I, à I x y w = I x + I y ; Ð I w 3 ÁÇ«ǑÃ Đ I w, ø 12 (b) Æä, û Æä ø Á». Ù 12 (a) è ñ ä, ó Þ [26] àß Đ Á, û ø Á». Ç,» Ǒ 100. 12 (c) Á» Î Å Ç Ç. Ð 12 (a) Û : 1) Á Ù Ë ñ, Á» Ù» Ë ÌðÙµÅÃ, å Õ è, Çð Á: É ; Á Õ, ß» Å Á Ç; 2) Ù ½ 3 Á,», ß» Å Á Ç; 3) Ù½ 4 Á à, Ù Á Đ, ø Á» ½ 3 Á ð Õ, ß» Å Á Ç. ÂÄ ß Í ñ Ô Î Á Ç. 4.2.2 å Ý ä Æ, ÂĐ å», è ð å» Õ Ã. ǑÅ Ý ß ñ Á» å,» º Á» ý» Ð Ë ñ ø. Æ è, üâ Ǒ Á Æ, è. ä, ÐÐ Á 1 â 6 â Þ, î ä Í üæ ä. Þ Ðü 100 ä, á ü 80 Ǒ, àß 20 Ǒý, Ç Â. Ô» Ù Đ Ä ½ 4.1. 20 ý» Î Ǒ ù Ç Â, Î, Ç Â. 13 Å ä. Ç Ù Grassmann» ß Ù Procrustean ß ø ä ½, Ç» Ǒ 100. 14 Šл ³, Ð 14 Û, 4 â 5 â, Procrustean Đ Ý, 6 â Procrustean Đ Ý, Procrustean Á». 15 Å Ð Ç Â. Ð 15 Û á ÐÇ, Ù Grassmann» Ç ß Î Ç, ½ 6 â Ù ù. Ù ßð å Â, ÝÅ Ð Æ, Ã Þ å.
256 Þ 38 Fig. 13 12 ñä Â (4 Á ÇǑ 8, 10, 4, 12) Fig. 12 Results of real scence images (The correct classes are: 8, 10, 4, 12) 13 Ë ñ üæä The different view real images from near to far Ù Procrustean ßð Õ Â, Ð 13 Û, Ð 1 â 4 â, Ð Á Æ, Ã, Procrustean ß Î, 0.45. ½ 5 â½ 6 â, Ð Á, Ã å, èǒ Õ,, Î Ç, 6 â à 0.6057. Kendall» èñò Õ Á», Ë ñ ä Á», ð Ò.
2 : Ù Grassmann» å» Ç 257 Ð Æ ÂÛ, Ù Grassmann» Ç ß Ù Procrustean ß Û. Ǒ Å å Á» Ò. 14 л Fig. 14 Mean shapes of different distance piers æ», ðä ÅÝ» èñò, Ǒ» Ç Â Å Ò í, Ǒ ñ Á ÇÂ Å Ò ß.» èñ Î ºî, ð» Æ èñ Ô, Á» Í Þ, Æ, Ù» Þ ìõ, ÌĐ óô ù Bingham [27] ;, Ä ß å, íµ½ Þ ì»» Ç Ã;, Ý ß îþ ÒǑðèá. Å ðé àå. References Fig. 15 5 15 Ð Ç Â Recognition results of piers at different distances å» èñ ê, Grassmann» Ò» Ç, å» èñùþ à«, Ð ÐÇ Ò ÆĐ» Ç Ã. ÂÄ, Â Ç ß³ Ù Kendall» èñò Ç ß Í. øèñ ß 1 Srivastava A, Damon J N, Dryden I L, Jermyn I H. Guest editors introduction to the special section on shape analysis and its applications in image understanding. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2010, 32(4): 577 578 2 Kendall D G. Shape manifolds, procrustean metrics and complex projective spaces. Bulletin of London Mathematical Society, 1984, 16(2): 81 121 3 Zhang J, Zhang X, Krim H, Walter G G. Object representation and recognition in shape spaces. Pattern Recognition, 2003, 36(5): 1143 1154 4 Huckemann S, Hotz T, Munk A. Intrinsic MANOVA for Riemannian manifolds with an application to Kendall s space of planar shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2010, 32(4): 593 603 5 Han Y X, Wang B, Idesawa M, Shimai H. Recognition of multiple configurations of objects with limited data. Pattern Recognition, 2010, 43(4): 1467 1475
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