By Roberto Cipolla
This monograph is dedicated to the matter of inferring geometric information regarding arbitrarily curved surfaces from visible cues; it is a primary challenge in machine imaginative and prescient with instant relevance for robotic manipulation and navigation.
The writer develops computational theories and methods concerning visible details bobbing up from viewer routine to the differential geometry of noticeable surfaces. The theories built were carried out and demonstrated utilizing a real-time monitoring method in response to deformable contours. purposes of the strategies to geometric modelling, drawback avoidance, navigation, and item manipulation are presented.
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Additional info for Active Visual Inference of Surface Shape
It is shown that the deformation of apparent contours under viewer motion is a rich source of geometric information which is extremely useful for visual navigation, motion planning and object manipulation. 1). Examples exploiting the visually derived shape for navigation around and the manipulation of piccewise smooth curved objects are presented. 2 Tracking image contours with B-spline snakes Image contours can be localised and tracked using a variant of the well-known "snake" of Kass, Witkin and Terzopoulos .
This demonstrates the utility and reliability of the proposed theories and methods. It is shown that the deformation of apparent contours under viewer motion is a rich source of geometric information which is extremely useful for visual navigation, motion planning and object manipulation. 1). Examples exploiting the visually derived shape for navigation around and the manipulation of piccewise smooth curved objects are presented. 2 Tracking image contours with B-spline snakes Image contours can be localised and tracked using a variant of the well-known "snake" of Kass, Witkin and Terzopoulos .
24), the curvature of the apparent contour indicates the sign of Gaussian curvature. As before when we considered the surface normal, the ability to determine the sign of the Gaussian curvature relies on being able to determine on which side of the apparent contour the surface lies. This information is not readily available from image contour data. It is however available if it is possible to detect a contour-ending since the local surface is then hyperbolic (since the surface is being viewed along an asymptotic direction) and the apparent contour must be concave at its end-point .
Active Visual Inference of Surface Shape by Roberto Cipolla