Active Visual Inference of Surface Shape - Roberto Cipolla Part 3 docx
Active Visual Inference of Surface Shape - Roberto Cipolla Part 3 docx
...
its sign is given by:
sign(t~ n)
= -sign(w.L(w))
= -( a)Usign(g t) - 2aj31rslsign(p.L(rs) ) - ( /31 rsl)2sign(n s)
= -( a)2sign(n t) - ( /3] rs D2sign(n s) (2 .32 )
since by the
conjugacy
relationship ... 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 con...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 7 docx
... 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 -2 n ~ ( 1-( p.m)2)'/2] - -( p.m) 2)
p U.p] ...
xB.U 3rip [(P'T)(U'tP)] (4.40)
ntP= ( 1-( p.T)2 )3/ 2 - A( 1-( p.T)2)I/2'
In the special ease of viewing a section of curve which projects t...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 1 ppt
... parameterisation 30
2.6 Dynamic properties of apparent contours 33
2.6.1 Recovery of depth from image velocities 33
2.6.2 Surface curvature from deformation of the apparent contour 33
2.6 .3 Sidedness of ...
Cataloging-in-Publication data applied for
Die Deutsche Bibliothek - CIP-Einheitsaufnahme
Cipolla, Roberto:
Active visual inference of surface shape...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 2 pot
... 3D shape of surfaces in the vicinity of their apparent
contours. We describe the real-time implementations of these algorithms for use
in tasks involving the active exploration of visible surface ...
relate these first to the descriptions of local 3D shape developed from the differ-
ential geometry of surfaces and then to the analysis of visual motion of apparent...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 6 potx
... the
3D geometry of the surface in the vicinity of ext~vmal boundary. The surface
is recovered as a family of s-parameter curves - the contour generators - and
t-parameter curves - portions of ... 3. 5. Detecting extremal boundaries and recovering surface shape 73
Figure 3. 14: Recovery of surface strip in vicinity of extremM boundary.
From a minimum...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 9 doc
... CO2q .~P(4.70)
qtt. ap
= O-ts ~'~t'~v-t-2 ~ -~ -~ t .1.
-~
Apart from (~
[~) which we have seen determines the magnitude of the tan-
gential component of image curve velocity (and ...
Ay/A).
From (5.2) to (5. 13) we have:
U1
U0
~-~ 2
A
U2
v0
- + f~1
A
curl~ = -2 ~3 + (-VlAy + U2A~) (5.16)
A2
U3 U1A~ + U~Ay
diw7 = 2-~ - + A2 (5.17)
(UtA~...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 10 pptx
... [ 133 ] and in the recovery of 3D shape up to a relief transformation [ 130 ,
131 ].
5 .3. Differential invariants of the image velocity field 135
are cancelled out. By taking the difference of ... the ray,
eurl~7 deh7
a.q _ + {- (5 .33 )
4. With no
additional information
- the constraints on 3D shape
Koenderink and Van Doorn [ 130 ] showed that surface shape inf...
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 ... whereas the interpretation of the
surface consistency theory is that the surface has at most one surface inflection
in the absence of zero-crossings [32 ]. The i...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 12 pdf
... velocities from the output of a set of spatio-temporal filters. A bank
of 24 spatio-temporal Gabor filters runs continuously in each neighbour-
hood of a time-varying image. Each of the filters is tuned ... contour of objects made of gen-
eralised cylinders can be used to determine the sign of curvature of the
surface.
The disadvantages of these methods is that they ar...
Active Visual Inference of Surface Shape - Roberto Cipolla Part 13 ppt
...
[129]
[13o]
[ 131 ]
[ 132 ]
[ 133 ]
[ 134 ]
[ 135 ]
[ 136 ]
[ 137 ]
[ 138 ]
[ 139 ]
J.J. Koenderink and A.J. Van Doorn. The singularities of the visual map-
ping.
Biological Cybernetics,
24:5 1-5 9, 1976. ... q
(C3g ~ 2 02q O~t s 0 (cOq)t.n+ C32q ~
(C.5)
qtt.n
= \ (-~ -Is] -~ t "n+2 ~ -~ - e -~ - .n.
0g
From (C .3) we see that (NI8) determines th...
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