Surf Algorithm

Incomputer vision,SURF (Speeded Up Robust Features)is a robust local feature

detector that can be used for tasks such asobject recognitionor3D reconstruction.
It is partly inspired by theSIFTdescriptor. The standard version of SURF is several
times faster than SIFT and claimed by its authors to be more robust against different
image transformations than SIFT.
SURF is based on sums of2D Haar waveletresponses and makes an efficient use
ofintegral images.
Output of Surf
Algorithm

Surf Works In 4 Steps

1.Find the interest point.

2.Build the scale space and find an

interest point andit'sscale.
3.Find the Orientation of each interest
point.
4.Build the descriptor.

Surf Algorithm
Detection
The SURF algorithm is based on the same principles and steps of
SIFT, but it uses a different scheme and should provide better results
faster. To detect scale-invariant characteristic points, the SIFT
approach uses cascaded filters, where the difference of Gaussians
(DoG), is calculated on rescaled images progressively.
Integral image
Instead of using Gaussian averaging, square-shaped filters are used
as an approximation. Convolving the image with a square is much
faster if the integral image is used. The integral image is defined as:

Surf Algorithm
Comparison And Difference between Surf And
Differences
Sift
Surf Algorithm
Sift

Images

Sift

Surf

Detection
points

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482

Average time

1640ns

485ns

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Contrast or are located in the margins-orientation

assignment.
Descriptor keypoints
The local gradients of the image are measured in the
region surrounding the key point.
Location of the keypoints.

Presentation of the algorithms

Theoretical differences
The main differences between the algorithmsSIFTand
SURF are the speed of implementation of respect for
one another, but with both points of interest of the
image keep invariants, scale and orientation, and
changes in the lighting.

Histogram of Oriented Gradients (HOG)

Histogram of Oriented
Gradients (HOG)are feature
descriptors used incomputer
visionandimage processingfor the
purpose ofobject detection.

Theory
The essential thought behind the Histogram of
Oriented Gradient descriptors is that local object
appearance and shape within an image can be
described by the distribution of intensity gradients or
edge directions.
The implementation of these descriptors can be
achieved by dividing the image into small connected
regions, called cells, and for each cell compiling a
histogram of gradient directions or edge orientations
for the pixels within the cell

Histogram of Oriented
Gradients (HOG)

Output of HOG

The technique counts occurrences of gradient

orientation in localized portions of an image.

This method is similar to that ofedge orientation

histograms,scale-invariant feature
transformdescriptors, andshape contexts, but
differs in that it is computed on a dense grid of
uniformly spaced cells and uses overlapping local
contrast normalization for improved accuracy.

Most common Algorithms

for feature Extraction
Corners
Moravec corner detector
Harris corner detector
Eigen Values
FAST

Moravec corner detector

FLAT
CORNER(Sudden

EDGE (no sudden change

in intensity)

change in

Moravec corner detector

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

intensity

Four shifts: (u,v) = (1,0), (1,1), (0,1), (-1, 1)

Look for local maxima in min{E}

Harris corner detector

Noisy response due to a binary window function

Use a Gaussian function

Harris corner detector

High-level idea: what shape of the error function will we prefer for
features?

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flat

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edge

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corner

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