Download e-book for kindle: Active Visual Inference of Surface Shape by Roberto Cipolla

By Roberto Cipolla

ISBN-10: 3540606424

ISBN-13: 9783540606420

This monograph is dedicated to the matter of inferring geometric information regarding arbitrarily curved surfaces from visible cues; it is a important challenge in laptop imaginative and prescient with quick relevance for robotic manipulation and navigation.
The writer develops computational theories and strategies referring to visible info coming up from viewer events to the differential geometry of seen surfaces. The theories built were applied and verified utilizing a real-time monitoring approach in keeping with deformable contours. purposes of the innovations to geometric modelling, trouble avoidance, navigation, and item manipulation are presented.

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The behaviour of a snake is controlled by internal and external "forces" 1. The internal forces enforce smoothness and the external forces guide the active contour towards the image feature. In their implementation for image curve localisation and tracking, these forces are derived by differentiating internal and external energies respectively. 1) is composed of first and second-order terms, forcing the active contour to act like a string/membrane (avoiding gaps) or a thin rod/plate (avoiding high curvatures) respectively.

Hence the sign of gP determines the sign of Gaussian curvature. Convexities, concavities and inflections of an apparent contour indicate, respectively, convex, hyperbolic and parabolic surface points. 8If we define the surface n o r m a l as being o u t w a r d s from the solid surface, the normal c u r v a t u r e will be negative in any direction for a convex surface patch. 5. 4. An alternative proof of the relationship between the sign of Gaussian curvature and the sign of nP follows. 2 Consider a tangent vector, w, with components in the basis {p, rs} of (a, j3).

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.

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Active Visual Inference of Surface Shape by Roberto Cipolla

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