By Roberto Cipolla
This monograph is dedicated to the matter of inferring geometric information regarding arbitrarily curved surfaces from visible cues; this can be a imperative challenge in laptop imaginative and prescient with instant relevance for robotic manipulation and navigation. the writer develops computational theories and strategies touching on visible info bobbing up from viewer hobbies to the differential geometry of seen surfaces. The theories constructed were applied and confirmed utilizing a real-time monitoring approach according to deformable contours. purposes of the strategies to geometric modelling, main issue avoidance, navigation, and item manipulation are awarded.
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Extra resources for Active Visual Inference of Surface Shape (Lecture Notes in Computer Science)
N o r m a l c u r v a t u r e a l o n g t h e c o n t o u r g e n e r a t o r , x ~ Then normal curvature along the contour generator, g~, is computed from the curvature gP of the apparent contour. 45) 3. N o r m a l c u r v a t u r e a l o n g t h e l i n e o f s i g h t , gt Finally the normal curvature gt, along the line of sight, which can be recovered from image accelerations, as explained below. The normal curvature at P in the direction of the ray p, gt can be computed fi'om the rate of deformation of the apparent contour under viewer motion.
6. n 2 ( q . 47) are not important. It merely demonstrates that the recovery of at requires knowledge of viewer motion (including translational and rotational accelerations) together with measurement of image accelerations. 7 it will be shown how to cancel the undesirable dependency on viewer accelerations and rotations. Note two important points: As a result of the c o n j u g a c y relationship between the contour generator and the ray, surface curvature at a contour generator is completely determined by the n o r m a l curvatures in these two directions and the angle between them, 0.
1 Spatio-temporal parameterisation The previous section showed that static views of apparent contours provide useful qualitative constraints on local surface shape. The viewer must however have discriminated apparent contours from the images of other surface curves (such as 30 Chap. 2. Surface Shape from the Deformation of Apparent Contours surface markings or discontinuities in surface orientation) and have determined on which side of the image contour the surface lies. When the viewer executes a known motion then surface depth can, of course, be computed from image velocities [34, 103].
Active Visual Inference of Surface Shape (Lecture Notes in Computer Science) by Roberto Cipolla