Scribd
Upload
68 views23 pages

Harris Detector

The Harris detector identifies corner points in an image based on the intensity change within a local window when shifted in different directions. It models the average intensity change as a bilinear form using eigenvalues of the matrix M, computed from image derivatives. A corner is defined as a point that has a large intensity change in all directions, corresponding to both eigenvalues of M being large. The corner response R is calculated as the determinant of M minus a weighted trace, with large positive R indicating a corner. The algorithm finds points above a threshold on R and then takes the local maxima as the detected corners.

Uploaded by

nithal01
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
68 views23 pages

Harris Detector

The Harris detector identifies corner points in an image based on the intensity change within a local window when shifted in different directions. It models the average intensity change as a bilinear form using eigenvalues of the matrix M, computed from image derivatives. A corner is defined as a point that has a large intensity change in all directions, corresponding to both eigenvalues of M being large. The corner response R is calculated as the determinant of M minus a weighted trace, with large positive R indicating a corner. The algorithm finds points above a threshold on R and then takes the local maxima as the detected corners.

Uploaded by

nithal01
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 23

Notes on the Harris Detector

from Rick Szeliskis lecture notes,


CSE576, Spring 05

Harris corner detector


C.Harris, M.Stephens. A Combined
Corner and Edge Detector. 1988

The Basic Idea


We should easily recognize the point by
looking through a small window
Shifting a window in any direction should
give a large change in intensity

Harris Detector: Basic Idea

flat region:
no change in
all directions

edge:
no change along
the edge direction

corner:
significant change
in all directions

Harris Detector: Mathematics


Change of intensity for the shift [u,v]:

E (u , v) w( x, y ) I ( x u , y v ) I ( x, y )

x, y

Window
function

Shifted
intensity

Window function w(x,y) =

Intensity

or
1 in window, 0 outside

Gaussian

Harris Detector: Mathematics


For small shifts [u,v] we have a bilinear approximation:

E (u , v) u , v

u
M
v

where M is a 22 matrix computed from image derivatives:

I x2
M w( x, y )
x, y
I x I y

I x I y
2
I y

Harris Detector: Mathematics


Intensity change in shifting window: eigenvalue analysis

E (u , v) u , v

u
M
v

Ellipse E(u,v) = const

1, 2 eigenvalues of M
direction of the
fastest change
direction of the
slowest change

(max)-1/2
(min)-1/2

Harris Detector: Mathematics


Classification of
image points using
eigenvalues of M:

Edge
2 >> 1

Corner
1 and 2 are large,
1 ~ 2;
E increases in all
directions

1 and 2 are small;


E is almost constant
in all directions

Flat
region

Edge
1 >> 2
1

Harris Detector: Mathematics


Measure of corner response:

R det M k trace M

det M 12
trace M 1 2
(k empirical constant, k = 0.04-0.06)

Harris Detector: Mathematics


2
R depends only on
eigenvalues of M

Edge
R<0

R is large for a corner

Corner

R>0

R is negative with large


magnitude for an edge
|R| is small for a flat
region

Flat
|R| small

Edge
R<0
1

Harris Detector
The Algorithm:
Find points with large corner response
function R (R > threshold)
Take the points of local maxima of R

Harris Detector: Workflow

Harris Detector: Workflow


Compute corner response R

Harris Detector: Workflow


Find points with large corner response: R>threshold

Harris Detector: Workflow


Take only the points of local maxima of R

Harris Detector: Workflow

Harris Detector: Summary


Average intensity change in direction [u,v] can be
expressed as a bilinear form:
u
E (u , v) u , v M
v
Describe a point in terms of eigenvalues of M:
2
measure of corner
response
R k
1 2

A good (corner) point should have a large intensity


change in all directions, i.e. R should be large positive

Harris Detector: Some


Properties
Rotation invariance

Ellipse rotates but its shape (i.e. eigenvalues)


remains the same
Corner response R is invariant to image rotation

Harris Detector: Some


Properties
Partial invariance to affine intensity change
Only derivatives are used => invariance
to intensity shift I I + b
Intensity scale: I a I
R

threshold

x (image coordinate)

x (image coordinate)

Harris Detector: Some


Properties
But: non-invariant to image scale!

All points will be


classified as edges

Corner !

Harris Detector: Some


Properties
Quality of Harris detector for different
scale changes
Repeatability rate:
# correspondences
# possible correspondences

C.Schmid et.al. Evaluation of Interest Point Detectors. IJCV 2000

Models of Image Change


Geometry
Rotation
Similarity (rotation + uniform scale)
Affine (scale dependent on direction)
valid for: orthographic camera, locally
planar object

Photometry
Affine intensity change (I a I + b)

Rotation Invariant Detection


Harris Corner Detector

C.Schmid et.al. Evaluation of Interest Point Detectors. IJCV 2000

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy