EXTRACT FEATURE POINTS FROM THE FACE.

1. Harris corner detector

3. Moravec corner detector flat

4. Moravec corner detector flat

5. Moravec corner detector flat edge

6. Moravec corner detector flat edge corner isolated point

11. Harris corner detector Equivalently, for small shifts [ u,v ] we have a bilinear approximation: , where M is a 2  2 matrix computed from image derivatives :

13. Harris corner detector Intensity change in shifting window: eigenvalue analysis  1 ,  2 – eigenvalues of M direction of the slowest change direction of the fastest change (  max ) -1/2 (  min ) -1/2 Ellipse E(u,v) = const

14. Harris corner detector  1  2 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 edge  1 >>  2 edge  2 >>  1 flat Classification of image points using eigenvalues of M :

15. Harris corner detector Measure of corner response: ( k – empirical constant, k = 0.04-0.06)

16. Another view

17. Another view

18. Another view

19. Summary of Harris detector

20. Harris corner detector (input)

21. Corner response R

22. Threshold on R

23. Local maximum of R

24. Harris corner detector