Download Active Visual Inference of Surface Shape by Roberto Cipolla PDF

By Roberto Cipolla

This monograph is dedicated to the matter of inferring geometric information regarding arbitrarily curved surfaces from visible cues; it is a valuable challenge in computing device imaginative and prescient with rapid relevance for robotic manipulation and navigation.
The writer develops computational theories and strategies concerning visible info coming up from viewer hobbies to the differential geometry of obvious surfaces. The theories built were applied and established utilizing a real-time monitoring approach in response to deformable contours. functions of the innovations to geometric modelling, concern avoidance, navigation, and item manipulation are presented.

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We now generalise these results to arbitrary non-planar, curvilinear viewer motion and perspective projection. This requires the choice of a suitable spatio-temporal parameterisation for the image, q(s, t), and surface, r(s, t). 6). However the spatio-temporal parameterisation of the family is not uniquc. The mapping between contour generators, and hence between apparent contours, at successive instants is under-determined. This is essentially the "aperture problem" for contours, considered either on the spherical perspective image q(s,t), or on the Gauss sphere n ( s , t ) , or between space curves on the surface r(s,t).

7: Mot:ion parallax as a robust cue for surface curvature at apparent contours. (a) A sample of monocular image sequence showing the image motion of apparenl contours with viewer motion. nt contour and a nearby surface markings when the viewer moves from left to right. The relative image accelerations as the features move away from the extremal boundary can be used for the robust estimation of surface curvature. 7. 8: Motion parallax as a robust cue for surface curvature at a specularity. ~otion (left to right).

6). This is the infinitesimal analogue to epipolar plane matching in stereo [14, 34]. 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].

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