Active Visual Inference of Surface Shape - Roberto Cipolla Part 1 ppt
Active Visual Inference of Surface Shape - Roberto Cipolla Part 1 ppt
... Motivation
1
1. 1 .1 Depth cues from stereo and structure from motion 1
1. 1.2 Shortcomings 5
1. 2 Approach 7
1. 2 .1 Visual motion and differential geometry 7
1. 2.2 Active vision 7
1. 2.3 Shape ...
1. 2.4 Task oriented vision 9
1. 3 Themes and contributions 9
1. 3 .1 Curved surfaces 9
1. 3.2 Robustness 10
1. 4 Outline of book 11
Surface Shape from the Defor...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 10 pptx
...
reactions [13 3] and in the recovery of 3D shape up to a relief transformation [13 0,
13 1].
5.3. Differential invariants of the image velocity field 13 5
are cancelled out. By taking the difference of ... direction of F and the slant and tilt of the surface
(o-, r) is given by:
IF I = tanc~ (5.23)
ZF = T (5.24)
With this new notation equations (5 .16 , 5 .17 , 5.]8 and...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 11 pptx
... interpretation of random-dot stereograms have shown that
even with sparse data the human visual system arrives at unique interpretations
of surface shape - the perception of dense and coherent surfaces ... knowledge about the proposed surface to
resolve ambiguity in the stereo matching problem - integrating matching and
surface interpolation [10 1, 17 0, 15 3].
A....
Active Visual Inference of Surface Shape - Roberto Cipolla Part 13 ppt
... In Proc. 1st British Machine Vision
Conference, pages 6 7-7 2, 19 90.
18 8 Bibliography
[12 5]
[12 61
[12 7]
[12 8]
[12 9]
[13 o]
[13 1]
[13 2]
[13 3]
[13 4]
[13 5]
[13 6]
[13 7]
[13 8]
[13 9]
J.J. ... (V.q)
1 2A(U.q)2.]
(U.n) 2 + U n ~;t2 + (U.n)2 J
[ ~2~-A q)'U :~ln12 ]
(D.7)
-a.n i (v.n)2 + (u.~) ~
(D.6)
Bibliography 18 7
[11 0]
[11 6]...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 2 pot
... they
14 Chap. 2. Surface Shape from the Deformation of Apparent Contours
Figure 2 .1: A smooth curved surface and its silhouette.
A single image of a smooth curved surface can provide 31) shape ... images of curved surfaces
and robustness.
1. 3 .1 Curved surfaces
Visual cues to curved surface shape include outlines (apparent contour [12 0]),
silhouettes, speculari...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 3 docx
... the
shape of the rim, a convexity of the contour corresponds to a convex
patch of surface, a concavity to a saddle-shaped patch. Inflections of
the contour correspond to flexional curves of ...
sign(t~ n)
= -sign(w.L(w))
= -( a)Usign(g t) - 2aj31rslsign(p.L(rs) ) - (/31rsl)2sign(n s)
= -( a)2sign(n t) - (/3]rs D2sign(n s) (2.32)
since by the
conjugacy
r...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 6 potx
... Contours - Implementation
Estimated radius of curvature (mm)
90
70 -~
5 0-& quot;
40 ~
:ils
-1 .o -o.s
0:s
1. o 1. 8
Error in edge Iocalisation (pixels) -1 0
Figure 3 .11 : Sensitivity of curvature ...
-2 .5 -1 .5 -0 .5 0.5 ~ 1. 5 2.5
Error
in position (mm) -5 0 i "~
-1 50
Estimated radius of curvature (mm)
250 I
2oo i
I
15 0 '
i...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 7 docx
...
curve (4 .16 )
rss.n
v
Aip ~12 (4 .19 )
N.n v
Ax (1 - (p.T):)" (4.20)
t~P
Substituting (4 .15 ) and (4 .11 )for nP:
tr p = Ate
= Ate
N.(p A T) (4. 21)
(1 -
(p.T)2) 3/2
B.p (4.22)
(1 -
(p.T)2) ... for a:
N.n p
(1 - (p.m)~)
a p
a -~ -( 1- (p.m)2).
(4.37)
Differentiating (4.20) and rearranging we can recover the other component, /3:
at p...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 9 doc
... (deformation) components.
v~, vy - 7 7- 1 0 + T 0 1 +
2 sin it cos It 0 - 1 - sin It cos It
curl'7 [ 0 -1 ] div-7[ 1 0] def~7[cos2it sin2#]
-
2 1 0 +T 0 1 + 7- sin2it -cos2#
where curl'S, ... the surface orientation (A~/A,
Ay/A).
From (5.2) to (5 .13 ) we have:
U1
U0
~-~ 2
A
U2
v0
- + f ~1
A
curl~ = -2 ~3 + (-VlAy + U2A...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 12 pdf
... zoom control of the cameras [58, 13 2, 39, 11 ].
A.5 Monocular shape cues
A.5 .1 Shape from shading
Shape from shading is concerned with finding ways of deducing surface orienta-
tion from image ... the surface texture. These include
homogeneity
(uniform density distri-
bution of texture elements -
texels)
or
isotropy
(uniform distribution of orien-
tations...
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