
balamaina lakshanaalanu vegavantam cheyandi

computer visionlo, vegavantamaina balamaina lakshanaalu (surf) anedi patent pondina sthaanika feature detector mariyu discriptor. dheenini vastuvu gurtimpu, chitra namodu, vargeekarana ledhaa 3dii punarnirmaanam vanti panulaku upayoginchavacchu. idhi paakshikamgaa scale-invariant feature transform (sift) discriptor nundi prerana pondindi. surf yokka praamaanika version sift kante aneka retlu vaegamgaa untundi mariyu daani rachayitalu sift kante vividha chitra parivartanalaku vyatiraekamgaa marinta balamgaa unnaarani paerkonnaaru.
vaddii paayintlanu gurtinchadaaniki, surf hessian blab detector yokka determinant yokka puurnaanka ujjaayimpunu upayogistundi, dheenini mundugaa ganinchina samagra chitraanni upayoginchi 3 puurnaanka kaaryakalaapaalato lekkinchavacchu. daani feature discriptor aasakti unna pradaesam chuttoo harr taranga pratispandana yokka mottam meeda aadharapadi untundi. veetini samagra chitram sahayamtho kooda lekkinchavacchu.
vastuvulu, vyaktulu ledhaa mukhalanu gurtinchadaaniki mariyu gurtinchadaaniki, 3dii drushyaalanu punarnirminchadaaniki, vastuvulanu track cheyadaaniki mariyu aasakti kaliginche amsaalanu velikiteese surf discriptorlanu upayoginchaaru.
sarfnu modata herbert bay, tinne tutellars mariyu look vaan gool prachurinchaaru mariyu computer visionpy 2006 european conferencelo samarpinchaaru. algorithm yokka oka anuvartanam united stateslo patent cheyabadindi. surf yokka "nitaruga" unna samskarana (yuu-surf anie pilustaaru) chitram bhramanaaniki maaradu mariyu anduvalla ganinchadaaniki vaegamgaa untundi mariyu camera ekkuva ledhaa takkuva kshitija samaantaramgaa unna anuvartanaaniki baga saripotundi.
adhe parimaanamlo conny taggina bandwidtho chitraanni pondadaaniki asalu chitraanni pyramid gassian ledhaa laplasian pyramid aakaaramtho coppy cheyadaaniki, bahula-resolution pyramid saanketikatanu upayoginchi chitram koaardinetlugaa maarchabadutundi. idhi asalu chitrampai scale-space anie piluvabade pratyeka aspashtata prabhavanni saadhistundi mariyu aasakti unna paayintlu scale marakunda undela chestundi.
algorithm mariyu lakshanaalu.
surf algorithm anedi sift maadirigaane suutraalu mariyu dasalapai aadharapadi untundi; conny prati dasalo vivaralu bhinnamgaa untaayi. algorithm moodu pradhana bhaagaalanu kaligi untundih aasakti binduvunu gurtinchadam, sthaanika porugu vivarana mariyu saripolika.
gurtinchadam.
surf anedi chadarapu aakarapu filterlanu gassian smoothing yokka ujjaayimpugaa upayogistundi. (sift vidhanam scale-invariant lakshanaalanu gurtinchadaaniki cascade filterlanu upayogistundi, ikkada rescale chesina chitraalapai gassianla (kukka) vyatyaasam kramamga lekkinchabadutundi.) samagra chitraanni upayoginchinatlayithe chitraanni chaturasramtho filter cheyadam chaalaa vaegamgaa untundih 
deerghachaturasram lopala unna asalu chitram yokka mottaanni samagra chitraanni upayoginchi twaragaa anchanaa veyavachu, dheeniki deerghachaturasram yokka naalugu moolallo moolyaankanam avasaram.
surf aasaktigala pradaesaalanu kanugonadaaniki hessian matricks aadhaaramgaa blab detectornu upayogistundi. hessian maatrika yokka nirnayakam binduvu chuttoo sthaanika maarpunu koliche kolatagaa upayoginchabadutundi mariyu eee nirnayakam garishtamgaa unna chota binduvulu enchukoobadataayi. mycologic mariyu schmid dwara hessian-laplasian detectorku viruddhamgaa, surf kooda scalenu enchukoovadaaniki hessian yokka determinantnu upayogistundi, alaage lindberg kooda chestundi. oka chitram i loe p = (x, y) anae binduvu ichinatlayithe, p mariyu scale σ vadda hessian maatrika h (p, σ), ilaa untundih
suutram _ 3 modalainavi ekkada unnaayi. idhi point formula _ 5 vadda image formula _ 4 thoo gassian yokka rendava-arder derivative yokka convolution.
9x9 parimaanam gala baaks vadapotha anedi σ = 1.2 thoo gala gassian yokka ujjaayimpu mariyu blab-pratispandana pataala kosam atyalpa sthaayini (atyadhika praadaesika spashtata) suuchistumdi.
scale-space praatinidhyam mariyu aasakti unna pradaesaala sthaanam.
vaddii paayintlanu vividha sthaayilalo kanugonavacchu, endukante correspondencela kosam sodhinchadaaniki tarachugaa poolika chitraalu avasaramavutaayi, avi ververu sthaayilalo kanipistaayi. itara lakshanaala gurtimpu algorithamlalo, scale space saadhaaranamgaa image piramidga grahinchabadutundi. chitraalanu padepade gassian vadapotato sunnitamgaa chestaaru, taruvaata avi pyramid yokka tadupari unnata sthaayini pondadaaniki upa namuunaa cheyabadataayi. anduvalla, musugula yokka vividha kolatalato aneka antastulu ledhaa metlu lekkinchabadataayih
scale space aneka ashtapadaalugaa vibhajinchabadindi, ikkada oka ashtapadamu anedi rettimpu sthaayini cover chese pratispandana pataala shrenini suuchistumdi. surflo, 9x9 filterla avtput nundi scale space yokka atyalpa sthaayi pondabadutundi.
anduvalla, munupati paddhatula maadirigaa kakunda, surflo vividha parimaanaala baaks filterlanu vartimpajeyadam dwara scale spacelu amalu cheyabadataayi. tadanugunamgaa, chitra parimaanaanni punaraavrutamgaa tagginchadam kante vadapotha parimaanaanni penchadam dwara scale space vislaeshimchabadutumdi. paina perkonna 9x9 vadapotha yokka avtput "s" = 1.2 ("σ" = 1.2 thoo gassian utpannaalaku anugunamgaa) sthaayi vadda prarambha sthaayi poragaa pariganinchabadutundi. samagra chitraala vivikta swabhaavam mariyu nirdishta vadapotha nirmaanaanni parigananaloki teesukuni, kramamga pedda musugulatho chitraanni filter cheyadam dwara eee krindi poralu pondabadataayi. dheeni phalitamgaa 9x9,15x15,21x21,27x27 parimaanamlo vadapotalu erpadataayi.. 3x3x3 parisaraallo garishta-kaani anachiveta chitram mariyu paie sthaayilalo vaddii paayintlanu sthaanikeekarinchadaaniki vartinchabadutundi. hessian maatrika yokka nirnayadhikaram yokka garishtata appudu godhuma, mariyu itarulu pratipaadinchina paddhatitoe scale mariyu image space loe interpolate cheyabadutundi. prati ashtakam yokka modati porala madhya pramaanamloo vyatyaasam saapekshamgaa peddadigaa unnanduna eee sandarbhamlo scale space interpolation chaalaa mukhyam.
vivaranakarta.
oka vivaranakarta yokka lakshyam oka chitra lakshanam yokka pratyaekamaina mariyu balamaina vivarananu andinchadam, udhaa.zii., aasakti unna binduvu parisaraallo pixella teevrata pampineeni vivarinchadam dwara. chaalaa vivaranakartalu sthaanika paddhatiloo lekkinchabadataaru, anduvalla gatamlo gurtinchina prati aasakti binduvuku vivarana pondabadutundi.
vivaranakarta yokka parimaanam daani ganana sanklishtata mariyu paayinttoe saripolina drudhatvam/khachitatvam rendintipai pratyaksha prabhavanni chooputundi. oka chinna vivaranakarta roopa vaividhyaalaku vyatiraekamgaa marinta balamgaa undavacchu, conny taginanta vivakshanu andinchakapovacchu, tadwara chaalaa tappudu saanukuulatalanu ivvavacchu.
modati dasalo aasakti binduvu chuttoo vruttaakaara praantam nundi samacharam aadhaaramgaa punarutpaadaka dhoranini nirnayinchadam untundi. appudu manamu enchukunna dhoraniki samalekhanam cheyabadina chadarapu praantaanni nirminchi, daani nundi surf discriptornu velikiteestaamu.
orientation assainment.
bhramana asthiratanu saadhinchadaaniki, aasakti unna sthaanam yokka dhoranini kanugonaali. aasakti unna sthaanam chuttoo vyaasaartham suutram _ 7 yokka vruttaakaara parisaraallo x-mariyu y-disallo harr taranga pratispandanalu lekkinchabadataayi, ikkada suutram _ 8 anedi aasakti unna binduvu kanugonabadina scale. pondina pratispandanalanu aasakti unna binduvu vadda kendrikrutamai unna gassian function dwara baruvu veyabadutundi, taruvaata dvi-miteeya pradaesamloe binduvulugaa plaat cheyabadutundi, absissalo kshitija samaantara pratispandana mariyu ordinetlo niluvu pratispandanato. π/3 parimaanamlo sliding orientation vindoloni anni pratispandanala mottaanni lekkinchadam dwara aadhipatya dhorani anchanaa veyabadutundi. vindoloni kshitija samaantara mariyu niluvu pratispandanalanu sangrahistaaru. rendu sankshipta pratispandanalu appudu sthaanika orientation vektarnu istayi. atuvanti podavaina vector mottam aasakti unna binduvu yokka dhoranini nirvachistundi. sliding vindo parimaanam anedi drudhatvam mariyu koneeya spashtata madhya kaavalasina samatulyatanu saadhinchadaaniki jagrattagaa enchukovalasina oka paramiti.
harr taranga pratispandanala mottam aadhaaramgaa vivaranakarta.
point chuttoo unna praantaanni vivarinchadaaniki, oka chadarapu praantam velikiteestaaru, aasakti binduvu meeda kendrikrutamai, paina enchukunna vidhamgaa dhorani venta kendrikrutamai untundi. eee kitikee parimaanam 20 seey.
aasakti praantam chinna 4x4 chadarapu upa-praantalugaa vibhajinchabadindi, mariyu pratidaaniki, harr taranga pratispandanalu 5x5 kramam tappakunda antaram gala namuunaa paayintla vadda sekarinchabadataayi. pratispandanalanu gassian thoo baruvugaa untaayi (vaikalyalu, sabdam mariyu anuvaadaaniki marinta drudatvaanni andinchadaaniki).
saripolchadam.
ververu chitraala nundi pondina vivaranakartalanu polchadam dwara, saripole jatalanu kanugonavacchu.

