I am using OpenSURF to find best matches in two images. It finds the matching points. I am wondering how I can know the degree of similarity between two matched points ((how strong the match is). I would appreciate your help.
Thanks.
This is well documented in the literature, including the SURF paper itself. You simply find the distance (e.g. Euclidean, Mahalanobis) between the descriptor vectors. Since the squared distance is faster to compute (it avoids a square root), you might also see the dot product of the vectors used instead since it is equivalent to the squared Euclidean distance.
Standard practice is then to decide whether or not to accept a match based on this distance and a threshold. The SIFT paper (Lowe 2004) gives a slightly more complicated way of accepting matches if I recall correctly, so you might want to read that too.
In OpenSURF, the descriptors are float vectors stored in the Ipoint class - so once you have called Surf.getDescriptors and populated the Ipoint vector given to the constructor, you simply get the Ipoint.desctiptor fields of a pair of Ipoints and compute the distance.
Related
I am now interested in the bundle adjustment in SLAM, where the Rodrigues vectors $R$ of dimension 3 are used as part of variables. Assume, without loss of generality, we use Gauss-Newton method to solve it, then in each step we need to solve the following linear least square problem:
$$J(x_k)\Delta x = -F(x_k),$$
where $J$ is the Jacobi of $F$.
Here I am wondering how to calculate the derivative $\frac{\partial F}{\partial R}$. Is it just like the ordinary Jacobi in mathematic analysis? I have this wondering because when I look for papers, I find many other concepts like exponential map, quaternions, Lie group and Lie algebra. So I suspect if there is any misunderstanding.
This is not an answer, but is too long for a comment.
I think you need to give more information about how the Rodrigues vector appears in your F.
First off, is the vector assumed to be of unit length.? If so that presents some difficulties as now it doesn't have 3 independent components. If you know that the vector will lie in some region (eg that it's z component will always be positive), you can work round this.
If instead the vector is normalised before use, then while you could then compute the derivatives, the resulting Jacobian will be singular.
Another approach is to use the length of the vector as the angle through which you rotate. However this means you need a special case to get a rotation through 0, and the resulting function is not differentiable at 0. Of course if this can never occur, you may be ok.
My SQL server contains 2 tables containing a similar set of fields for a mailing (physical) address. NB these tables are populated before the data gets to my database (can't change that). The set of fields in the tables are similar though not identical - most exist in both tables, some only in one, some the other. The goal is to determine with "high confidence" whether or not two mailing addresses match.
Example fields:
Street Number
Predirection
Street Name
Street Suffix
Postdirection (one table and not the other)
Unit name (one table) v Address 2 (other table) --adds complexity
Zip code (length varies in each table 5 v 5+ digits)
Legal description
Ideally I'd like to a simple way to call a "function" which returns either a boolean or a confidence level of match (0.0 - 1.0). This call can be made in SQL or Python within my solution; free/open source highly preferred by client.
Among options such as SOUNDEX, DIFFERENCE, Levenshtein distance (all SQL) and usaddress, dedupe (Python) none stand out as a good-fit solution.
Ideally I'd like to a simple way to call a "function" which returns
either a boolean or a confidence level of match (0.0 - 1.0).
A similarity metric is what you're looking for. You can use Distance Metrics to calculate similarity. The Levenshtein Distance, Damerau-Levenshtein Distance and Hamming Distance are examples of Distance Metrics.
Given the shortest of the two: M the shorter of the two, N the longest, and your distance metric (D) you can measure string Similarity using (M-D)/N. You can also use the Longest Common subsequence or Longest Common Substring (LCS) to measure similarity by dividing LCS/N.
If you can use CLRs I HIGHLY recommend mdq.similarity which you can get from here. It will give a similarity metric using these algorithms:
The Damarau-Levenshtein distance (the documentation only says, "Levenshtein" but they are mistaken)
The Jaccard Similarity coefficient algorithm.
a form of the Jaro-Winkler distance algorithm.
4 a longest common subsequence algorithm (which grows by one when transpositions are involved)
If performance is important (these metrics can be quite slow depending on what you're feeding them) then I would get familiar with my Bernie function. It's designed to help measure similarity using any of the aforementioned algorithms much, much faster. Bernie is 100% open source and can be easily re-created in any language (Python, C#, etc.) Ditto my N-Grams function.
You can easily create your own metric using NGrams8K.
For pure T-SQL versions of Levenshtein or the Longest Common Subsequence you can check Phil Factor's blog. (Note these cannot compete with the CLR I mentioned).
I'll stop for now. The best advice can be given after we better understand what is making the strings different (note my question under your comment).
I'm looking for a fast solution for the following problem:
I have a fixed point (let's say the upper right on the white measurement line) and need to find the closest point on a curve made of equally spaced points (the lower curve). Additionally, I do this for every point on the upper curve to draw the distances between the curves with different colours (three levels: below minimum [red], between minimum and maximum [orange] and above maximum [green]).
My current solution is a tradeoff: I take the fixed point, iterate through an arbitrary interval (e. g. 50 units to the left and right of the fixed point) and calculate the distance of each pair. This saves some CPU power, but it is neither elegant nor accurate, since I could miss a minimum distance outside my chosen interval.
Any proposals for a faster algorithm?
Edit: Equally spaced means all points have the same distance on the x-axis, this is true for both curves. Also I do not need to interpolate between the points, this would be too time consuming.
Rather than an arbitrary distance, you could perhaps iterate until "out of range".
In your example, suppose you start with the point on the upper curve at the top-right of your line. Then drop vertically downwards, you get a distance of (by my eye) about 200um.
Now you can move right from here testing points until the horizontal distance is 200um. Beyond that, it's impossible to get a distance less than 200um.
Moving left, the distance goes down until you find the 150um minimum, then starts rising again. Once you're 150um to the left of your upper point, again, it's impossible to beat the minimum you've found.
If you'd gone left first, you wouldn't have had to go so far right, so as an optimization either follow the direction in which the distance falls, or else work out from the middle in both directions at once.
I don't know how many um 50 units is, so this might be slower or faster than what you have. It does avoid the risk of missing a lower value, though.
Since you're doing lots of tests against the same set of points on the lower curve, you can proably improve on this by ignoring the fact that the points form a curve at all. Stick them all in a k-d tree or similar, and search that repeatedly. It's called a Nearest neighbor search.
It may help to identify this problem as a nearest neighbour search problem. That link includes a good discussion about the various algorithms that are used for this. If you are OK with using C++ rather than straight C, ANN looks like a good library for this.
It also looks as though this question has been asked before.
We can label the top curve y=t(x) and the bottom curve y=b(x). Label the closest-function x_b=c(x_t). We know that the closest-function is weakly monotone non-decreasing as two shortest paths never cross each other.
If you know that the distance function d(x_t,x_b) has only one local minimum for every fixed x_t (this happens if the curve is "smooth enough"), then you can save time by "walking" the curve:
- start with x_t=0, x_b=0
- while x_t <= x_max
-- find the closest x_b by local search
(increment x_b while the distance is decreasing)
-- add {x_t, x_b} to the result set
-- increment x_t
If you expect x_b to be smooth enough, but you cannot assume that and you want an exact result,
Walk the curve in both directions. Where the results agree, they are correct. Where they disagree, run a complete search betwen the two results (the leftmost and the rightmost local maxima). Sample the "ambiguous block" in such an order (binary division) to allow the most pruning due to the monotonicity.
As a middle ground:
Walk the curve in both directions. If the results disagree, choose among the two. If you can guarantee at most two local maxima for each fixed x_t, this produces the optimal solution. There are still some pathological cases where the optimal solution is not found, and contain a local minimum that is flanked by two other local minima that are both worse than this one. I dare say it is uncommon to find a case where the solution is far from optimal (assuming smooth y=b(x)).
I have a system that stores vectors and allows a user to find the n most similar vectors to the user's query vector. That is, a user submits a vector (I call it a query vector) and my system spits out "here are the n most similar vectors." I generate the similar vectors using a KD-Tree and everything works well, but I want to do more. I want to present a list of the n most similar vectors even if the user doesn't submit a complete vector (a vector with missing values). That is, if a user submits a vector with three dimensions, I still want to find the n nearest vectors (stored vectors are of 11 dimensions) I have stored.
I have a couple of obvious solutions, but I'm not sure either one seem very good:
Create multiple KD-Trees each built using the most popular subset of dimensions a user will search for. That is, if a user submits a query vector of thee dimensions, x, y, z, I match that query to my already built KD-Tree which only contains vectors of three dimensions, x, y, z.
Ignore KD-Trees when a user submits a query vector with missing values and compare the query vector to the vectors (stored in a table in a DB) one by one using something like a dot product.
This has to be a common problem, any suggestions? Thanks for the help.
Your first solution might be fastest for queries (since the tree-building doesn't consider splits in directions that you don't care about), but it would definitely use a lot of memory. And if you have to rebuild the trees repeatedly, it could get slow.
The second option looks very slow unless you only have a few points. And if that's the case, you probably didn't need a kd-tree in the first place :)
I think the best solution involves getting your hands dirty in the code that you're working with. Presumably the nearest-neighbor search computes the distance between the point in the tree leaf and the query vector; you should be able to modify this to handle the case where the point and the query vector are different sizes. E.g. if the points in the tree are given in 3D, but your query vector is only length 2, then the "distance" between the point (p0, p1, p2) and the query vector (x0, x1) would be
sqrt( (p0-x0)^2 + (p1-x1)^2 )
I didn't dig into the java code that you linked to, but I can try to find exactly where the change would need to go if you need help.
-Chris
PS - you might not need the sqrt in the equation above, since distance squared is usually equivalent.
EDIT
Sorry, didn't realize it would be so obvious in the source code. You should use this version of the neighbor function:
nearest(double [] key, int n, Checker<T> checker)
And implement your own Checker class; see their EuclideanDistance.java to see the Euclidean version. You may also need to comment out any KeySizeException that the query code throws, since you know that you can handle differently sized keys.
Your second option looks like a reasonable solution for what you want.
You could also populate the missing dimensions with the most important( or average or whatever you think it should be) values if there are any.
You could try using the existing KD tree -- by taking both branches when the split is for a dimension that is not supplied by the source vector. This should take less time than doing a brute force search, and might be less trouble than trying to maintain a bunch of specialized trees for dimension subsets.
You would need to adapt your N-closest algorithm (without more info I can't advise you on that...), and for distance you would use the sum of the squares of only those elements supplied by the source vector.
Here's what I ended up doing: When a user didn't specify a value (when their query vector lacked a dimension), I I simply adjusted my matching range (in the API) to something huge so that I match any value.
I have a number of tracks recorded by a GPS, which more formally can be described as a number of line strings.
Now, some of the recorded tracks might be recordings of the same route, but because of inaccurasies in the GPS system, the fact that the recordings were made on separate occasions and that they might have been recorded travelling at different speeds, they won't match up perfectly, but still look close enough when viewed on a map by a human to determine that it's actually the same route that has been recorded.
I want to find an algorithm that calculates the similarity between two line strings. I have come up with some home grown methods to do this, but would like to know if this is a problem that's already has good algorithms to solve it.
How would you calculate the similarity, given that similar means represents the same path on a map?
Edit: For those unsure of what I'm talking about, please look at this link for a definition of what a line string is: http://msdn.microsoft.com/en-us/library/bb895372.aspx - I'm not asking about character strings.
Compute the Fréchet distance on each pair of tracks. The distance can be used to gauge the similarity of your tracks.
Math alert: Fréchet was a pioneer in the field of metric space which is relevant to your problem.
I would add a buffer around the first line based on the estimated probable error, and then determine if the second line fits entirely within the buffer.
To determine "same route," create the minimal set of normalized path vectors, calculate the total power differences and compare the total to a quality measure.
Normalize the GPS waypoints on total path length,
walk the vectors of the paths together, creating a new set of path vectors for each path based upon the shortest vector at each waypoint,
calculate the total power differences between endpoints of each vector in the normalized paths weighting for vector length, and
compare against a quality measure.
Tune the power of the differences (start with, say, squared differences) and the quality measure (say as a percent of the total power differences) visually. This algorithm produces a continuous quality measure of the path match as well as a binary result (Are the paths the same?)
Paul Tomblin said: I would add a buffer
around the first line based on the
estimated probable error, and then
determine if the second line fits
entirely within the buffer.
You could modify the algorithm as the normalized vector endpoints are compared. You could determine if any endpoint difference was above a certain size (implementing Paul's buffer idea) or perhaps, if the endpoints were outside the "buffer," use that fact to ignore that endpoint difference, allowing a comparison ignoring side trips.
You could walk along each point (Pa) of LineString A and measure the distance from Pa to the nearest line-segment of LineString B, averaging each of these distances.
This is not a quick or perfect method, but should be able to give use a useful number and is pretty quick to implement.
Do the line strings start and finish at similar points, or are they of very different extents?
If you consider a single line string to be a sequence of [x,y] points (or [x,y,z] points), then you could compute the similarity between each pair of line strings using the Needleman-Wunsch algorithm. As described in the referenced Wikipedia article, the Needleman-Wunsch algorithm requires a "similarity matrix" which defines the distance between a pair of points. However, it would be easy to use a function instead of a matrix. In your case you could simply use the 2D Euclidean distance function (or a 3D Euclidean function if your points have elevation) to provide the distance between each pair of points.
I actually side with the person (Aaron F) who said that you might be interested in the Levenshtein distance problem (and cited this). His answer seems to me to be the best so far.
More specifically, Levenshtein distance (also called edit distance), does not measure strictly the character-by-character distance, but also allows you to perform insertions and deletions. The best algorithm for this distance measure can be computed in quadratic time (pretty slow if your strings are long), but the computational biologists have pretty good heuristics for this, that might be of interest to you on their own. Check out BLAST and FASTA.
In your problem, it seems that you are dealing with differences between strings of numbers, and you care about the numbers. If you give more information, I might be able to direct you to the right variant of BLAST/FASTA/etc for your purposes. In any case, you might consider adapting BLAST and FASTA for your needs. They're quite simple.
1: http://en.wikipedia.org/wiki/Levenshtein_distance, http://www.nist.gov/dads/HTML/Levenshtein.html