Comparing Feature Detectors: A bias in the repeatability criteria, and how to correct it

Most computer vision application rely on algorithms finding local correspondences between different images. These algorithms detect and compare stable local invariant descriptors centered at scale-invariant keypoints. Because of the importance of the problem, new keypoint detectors and descriptors are constantly being proposed, each one claiming to perform better (or to be complementary) to the preceding ones. This raises the question of a fair comparison between very diverse methods. This evaluation has been mainly based on a repeatability criterion of the keypoints under a series of image perturbations (blur, illumination, noise, rotations, homotheties, homographies, etc). In this paper, we argue that the classic repeatability criterion is biased towards algorithms producing redundant overlapped detections. To compensate this bias, we propose a variant of the repeatability rate taking into account the descriptors overlap. We apply this variant to revisit the popular benchmark by Mikolajczyk et al., on classic and new feature detectors. Experimental evidence shows that the hierarchy of these feature detectors is severely disrupted by the amended comparator.Comment: Fixed typo in affiliation

L'Anatomie de la méthode SIFT

This dissertation contributes to an in-depth analysis of the SIFT method. SIFT is the most popular and the first efficient image comparison model. SIFT is also the first method to propose a practical scale-space sampling and to put in practice the theoretical scale invariance in scale space. It associates with each image a list of scale invariant (also rotation and translation invariant) features which can be used for comparison with other images. Because after SIFT feature detectors have been used in countless image processing applications, and because of an intimidating number of variants, studying an algorithm that was published more than a decade ago may be surprising. It seems however that not much has been done to really understand this central algorithm and to find out exactly what improvements we can hope for on the matter of reliable image matching methods. Our analysis of the SIFT algorithm is organized as follows. We focus first on the exact computation of the Gaussian scale-space which is at the heart of SIFT as well as most of its competitors. We provide a meticulous dissection of the complex chain of transformations that form the SIFT method and a presentation of every design parameter from the extraction of invariant keypoints to the computation of feature vectors. Using this documented implementation permitting to vary all of its own parameters, we define a rigorous simulation framework to find out if the scale-space features are indeed correctly detected by SIFT, and which sampling parameters influence the stability of extracted keypoints. This analysis is extended to see the influence of other crucial perturbations, such as errors on the amount of blur, aliasing and noise. This analysis demonstrates that, despite the fact that numerous methods claim to outperform the SIFT method, there is in fact limited room for improvement in methods that extract keypoints from a scale-space. The comparison of many detectors proposed in SIFT competitors is the subject of the last part of this thesis. The performance analysis of local feature detectors has been mainly based on the repeatability criterion. We show that this popular criterion is biased toward methods producing redundant (overlapping) descriptors. We therefore propose an amended evaluation metric and use it to revisit a classic benchmark. For the amended repeatability criterion, SIFT is shown to outperform most of its more recent competitors. This last fact corroborates the unabating interest in SIFT and the necessity of a thorough scrutiny of this method.Cette thèse est une analyse approfondie de la méthode SIFT, la méthode de comparaison d'images la plus populaire. En proposant un échantillonnage du scale-space Gaussien, elle est aussi la première méthode à mettre en pratique la théorie scale-space et faire usage de ses propriétés d'invariance aux changements d'échelles.SIFT associe à une image un ensemble de descripteurs invariants aux changements d'échelle, invariants à la rotation et à la translation. Les descripteurs de différentes images peuvent être comparés afin de mettre en correspondance les images. Compte tenu de ses nombreuses applications et ses innombrables variantes, étudier un algorithme publié il y a une décennie pourrait surprendre. Il apparaît néanmoins que peu a été fait pour réellement comprendre cet algorithme majeur et établir de façon rigoureuse dans quelle mesure il peut être amélioré pour des applications de haute précision. Cette étude se découpe en quatre parties. Le calcul exact du scale-space Gaussien, qui est au cœur de la méthode SIFT et de la plupart de ses compétiteurs, est l'objet de la première partie.La deuxième partie est une dissection méticuleuse de la longue chaîne de transformations qui constitue la méthode SIFT. Chaque paramètre y est documenté et son influence analysée. Cette dissection est aussi associé à une publication en ligne de l'algorithme. La description détaillée s'accompagne d'un code en C ainsi que d'une plateforme de démonstration permettant l'analyse par le lecteur de l'influence de chaque paramètre. Dans la troisième partie, nous définissons un cadre d'analyse expérimental exact dans le but de vérifier que la méthode SIFT détecte de façon fiable et stable les extrema du scale-space continue à partir de la grille discrète. En découlent des conclusions pratiques sur le bon échantillonnage du scale-space Gaussien ainsi que sur les stratégies de filtrage de points instables. Ce même cadre expérimental est utilisé dans l'analyse de l'influence de perturbations dans l'image (aliasing, bruit, flou). Cette analyse démontre que la marge d'amélioration est réduite pour la méthode SIFT ainsi que pour toutes ses variantes s'appuyant sur le scale-space pour extraire des points d'intérêt. L'analyse démontre qu'un suréchantillonnage du scale-space permet d'améliorer l'extraction d'extrema et que se restreindre aux échelles élevées améliore la robustesse aux perturbations de l'image.La dernière partie porte sur l'évaluation des performances de détecteurs de points. La métrique de performance la plus généralement utilisée est la répétabilité. Nous démontrons que cette métrique souffre pourtant d'un biais et qu'elle favorise les méthodes générant des détections redondantes. Afin d'éliminer ce biais, nous proposons une variante qui prend en considération la répartition spatiale des détections. A l'aide de cette correction nous réévaluons l'état de l'art et montrons que, une fois la redondance des détections prise en compte, la méthode SIFT est meilleure que nombre de ses variantes les plus modernes

Computing an Exact Gaussian Scale-Space

Gaussian convolution is one of the most important algorithms in image processing. The present work focuses on the computation of the Gaussian scale-space, a family of increasingly blurred images, responsible, among other things, for the scale-invariance of SIFT, a popular image matching algorithm. We discuss and numerically analyze the precision of three different alternatives for defining a discrete counterpart to the continuous Gaussian operator. This study is focused on low blur levels, that are crucial for the scale-space accuracy

Anatomy of the SIFT Method

This article presents a detailed description and implementation of the Scale Invariant FeatureTransform (SIFT), a popular image matching algorithm. This work contributes to a detaileddissection of SIFT’s complex chain of transformations and to a careful presentation of each ofits design parameters. A companion online demonstration allows the reader to use SIFT andindividually set each parameter to analyze its impact on the algorithm results

The impact of stapling technique and surgeon specialism on anastomotic failure after right?sided colorectal resection: an international multicentre, prospective audit

Aim There is little evidence to support choice of technique and configuration for stapled anastomoses after right hemicolectomy and ileocaecal resection. This study aimed to determine the relationship between stapling technique and anastomotic failure. Method Any unit performing gastrointestinal surgery was invited to contribute data on consecutive adult patients undergoing right hemicolectomy or ileocolic resection to this prospective, observational, international, multicentre study. Patients undergoing stapled, side?to?side ileocolic anastomoses were identified and multilevel, multivariable logistic regression analyses were performed to explore factors associated with anastomotic leak. Results One thousand three hundred and forty?seven patients were included from 200 centres in 32 countries. The overall anastomotic leak rate was 8.3%. Upon multivariate analysis there was no difference in leak rate with use of a cutting stapler for apical closure compared with a noncutting stapler (8.4% vs 8.0%, OR 0.91, 95% CI 0.54–1.53, P = 0.72). Oversewing of the apical staple line, whether in the cutting group (7.9% vs 9.7%, OR 0.87, 95% CI 0.52–1.46, P = 0.60) or noncutting group (8.9% vs 5.7%, OR 1.40, 95% CI 0.46–4.23, P = 0.55) also conferred no benefit in terms of reducing leak rates. Surgeons reporting to be general surgeons had a significantly higher leak rate than those reporting to be colorectal surgeons (12.1% vs 7.3%, OR 1.65, 95% CI 1.04–2.64, P = 0.04). Conclusion This study did not identify any difference in anastomotic leak rates according to the type of stapling device used to close the apical aspect. In addition, oversewing of the anastomotic staple lines appears to confer no benefit in terms of reducing leak rates. Although general surgeons operated on patients with more high?risk characteristics than colorectal surgeons, a higher leak rate for general surgeons which remained after risk adjustment needs further exploration

Relationship between method of anastomosis and anastomotic failure after right hemicolectomy and ileo-caecal resection: an international snapshot audit

Aim: The anastomosis technique used following right-sided colonic resection is widely variable and may affect patient outcome. This study aimed to assess the association between leak and anastomosis technique (stapled vs handsewn). Method: This was a prospective, multicentre, international audit including patients undergoing elective or emergency right hemicolectomy or ileo-caecal resection operations over a 2-month period in early 2015. The primary outcome measure was the presence of anastomotic leak within 30\ua0days of surgery, determined using a prespecified definition. Mixed effects logistic regression models were used to assess the association between leak and anastomosis method, adjusting for patient, disease and operative cofactors, with centre included as a random-effect variable. Results: This study included 3208 patients, of whom 78.4% (n\ua0=\ua02515) underwent surgery for malignancy and 11.7% (n\ua0=\ua0375) underwent surgery for Crohn's disease. An anastomosis was performed in 94.8% (n\ua0=\ua03041) of patients, which was handsewn in 38.9% (n\ua0=\ua01183) and stapled in 61.1% (n\ua0=\ua01858). Patients undergoing handsewn anastomosis were more likely to be emergency admissions (20.5% handsewn vs 12.9% stapled) and to undergo open surgery (54.7% handsewn vs 36.6% stapled). The overall anastomotic leak rate was 8.1% (245/3041), which was similar following handsewn (7.4%) and stapled (8.5%) techniques (P\ua0=\ua00.3). After adjustment for cofactors, the odds of a leak were higher for stapled anastomosis (adjusted OR\ua0=\ua01.43; 95% CI: 1.04\u20131.95; P\ua0=\ua00.03). Conclusion: Despite being used in lower-risk patients, stapled anastomosis was associated with an increased anastomotic leak rate in this observational study. Further research is needed to define patient groups in whom a stapled anastomosis is safe

The relationship between method of anastomosis and anastomotic failure after right hemicolectomy and ileo-caecal resection: an international snapshot audit.

BACKGROUND: Anastomosis technique following right sided colonic resection is widely variable and may affect patient outcomes. This study aimed to assess the association between leak and anastomosis technique (stapled versus handsewn) METHODS: This was a prospective, multicentre, international audit including patients undergoing elective or emergency right hemicolectomy or ileo-caecal resection operations over a two-month period in early 2015. The primary outcome measure was the presence of anastomotic leak within 30 days of surgery, using a pre-specified definition. Mixed effects logistic regression models were used to assess the association between leak and anastomosis method, adjusting for patient, disease and operative cofactors, with centre included as a random effect variable. RESULTS: This study included 3208 patients, of whom 78.4% (n=2515) underwent surgery for malignancy and 11.7% (n=375) for Crohn's disease. An anastomosis was performed in 94.8% (n=3041) of patients, which was handsewn in 38.9% (n=1183) and stapled in 61.1% (n=1858) cases. Patients undergoing handsewn anastomosis were more likely to be emergency admissions (20.5% handsewn versus 12.9% stapled) and to undergo open surgery (54.7% versus 36.6%). The overall anastomotic leak rate was 8.1% (245/3041), which was similar following handsewn (7.4%) and stapled (8.5%) techniques (p=0.3). After adjustment for cofactors, the odds of a leak were higher for stapled anastomosis (adjusted odds ratio 1.43, 95% confidence interval 1.04-1.95, p=0.03). DISCUSSION: Despite being used in lower risk patients, stapled anastomosis was associated with an increased anastomotic leak rate in this observational study. Further research is needed to define patient groups in whom a stapled anastomosis is safe. This article is protected by copyright. All rights reserve

Relationship between method of anastomosis and anastomotic failure after right hemicolectomy and ileo-caecal resection: an international snapshot audit

Aim The anastomosis technique used following right-sided colonic resection is widely variable and may affect patient outcome. This study aimed to assess the association between leak and anastomosis technique (stapled vs handsewn). Method This was a prospective, multicentre, international audit including patients undergoing elective or emergency right hemicolectomy or ileo-caecal resection operations over a 2-month period in early 2015. The primary outcome measure was the presence of anastomotic leak within 30 days of surgery, determined using a prespecified definition. Mixed effects logistic regression models were used to assess the association between leak and anastomosis method, adjusting for patient, disease and operative cofactors, with centre included as a random-effect variable. Results This study included 3208 patients, of whom 78.4\% (n = 2515) underwent surgery for malignancy and 11.7\% (n = 375) underwent surgery for Crohn's disease. An anastomosis was performed in 94.8\% (n = 3041) of patients, which was handsewn in 38.9\% (n = 1183) and stapled in 61.1\% (n = 1858). Patients undergoing hand-sewn anastomosis were more likely to be emergency admissions (20.5\% handsewn vs 12.9\% stapled) and to undergo open surgery (54.7\% handsewn vs 36.6\% stapled). The overall anastomotic leak rate was 8.1\% (245/3041), which was similar following handsewn (7.4\%) and stapled (8.5\%) techniques (P = 0.3). After adjustment for cofactors, the odds of a leak were higher for stapled anastomosis (adjusted OR = 1.43; 95\% CI: 1.04-1.95; P = 0.03). Conclusion Despite being used in lower-risk patients, stapled anastomosis was associated with an increased anastomotic leak rate in this observational study. Further research is needed to define patient groups in whom a stapled anastomosis is safe