Download e-book for iPad: 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; this can be a relevant challenge in laptop imaginative and prescient with speedy relevance for robotic manipulation and navigation.
The writer develops computational theories and strategies pertaining to visible details coming up from viewer routine to the differential geometry of seen surfaces. The theories built were applied and validated utilizing a real-time monitoring process in response to deformable contours. purposes of the recommendations to geometric modelling, concern avoidance, navigation, and item manipulation are presented.

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Extra resources for Active Visual Inference of Surface Shape

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For a general motion, however, the epipolar plane structure rotates continuously as the direction of translation, U, changes and the space curve, r(s0, t), generated by the movement of a contact point will be non-planar. 34), the tangents to the t-parameter curves on the spatio-temporal image, q(s0, t), are defined by qt-- (UAq) Aq a A q. 35) Note that qt is equal to the image velocity of a point on the projection of a static space curve at depth )~ [149]. This is not surprising since instantaneously image velocities are dependent only on depth and not surface curvature.

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]. This is correct for static space curves but it will be shown that it also holds for extremal contour generators even though they are not fixed in space. Furthermore, if image accelerations are also computed then full surface curvature (local 3D shape) can be computed along a contour generator.

Positioning the control points External forces are sampled at N points, x(sj), along the curve - typically N External forces are applied to displacement it is necessary to point. N, > 20 has been adequate in our experiments. the curve itself but for iterative adjustment of compute the force transmitted to each control of two ways. In the first method this is achieved via the principle of virtual work. At each 2Small amounts of smoothing can be achieved economically by defocusing the image until the desired degree of blur is achieved.

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Active Visual Inference of Surface Shape by Roberto Cipolla

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