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[AMR] More fixes

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janishutz
2026-06-17 14:57:36 +02:00
parent 4a3f2fb9c8
commit 5bf9d9a022
10 changed files with 56 additions and 29 deletions
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electives/amr/parts/04_vision/00_keypoints.tex
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@@ -1,11 +1,14 @@
\subsection{Keypoints}
\bi{Corner det.} $SSD(\Delta_x, \Delta_y) \approx [\Delta_x \; \Delta_y] \mat{M} [\Delta_x \; \Delta_y]^\top$
with $\mat{M} = \mat{R}^\top \text{diag}(\lambda_1, \lambda_2) \mat{R}$; $\lambda_i$ E.V. of $M$;
$\mat{R} = \det(M) - \kappa \cdot \text{trace}(M)^2 = \lambda_1\lambda_2 - \kappa(\lambda_1 + \lambda_2)^2$;
$\displaystyle M = \sum_{x, y \in P} \begin{bmatrix}
I_x^2 & I_x I_y \\
I_x I_y & I_y^2
\end{bmatrix}$
\bi{Corner det.} $SSD(\Delta x, \Delta y) \approx [\Delta_x \; \Delta_y] \mat{M} [\Delta_x \; \Delta_y]^\top$
with $\mat{M} = \mat{R}^\top \text{diag}(\lambda_1, \lambda_2) \mat{R}$; $\lambda_i$ E.V. of $M$; $\kappa$ const 0.04-0.15;
$\mat{R} = \det(M) - \kappa \cdot \text{TR}(M)^2 = \lambda_1\lambda_2 - \kappa(\lambda_1 + \lambda_2)^2$;\\
$M = \sum_{x, y \in P}
{\scriptsize
\begin{bmatrix}
I_x^2 & I_x I_y \\
I_x I_y & I_y^2
\end{bmatrix}
}$
\shade{gray}{Blob Detection} ($I$ is the image)