This paper describes how a surface reconstruction algorithm, based on minimizing the variation of surface curvature, can be used to stabilize and correct the results of local shading analysis. What is novel about this...
详细信息
This paper describes how a surface reconstruction algorithm, based on minimizing the variation of surface curvature, can be used to stabilize and correct the results of local shading analysis. What is novel about this approach is that it is viewpoint independent and applicable to any process that can provide estimates of local surface orientation. The assumptions used in formulating the minimization are derived from standard differential geometry. When applied as a second stage of processing after local shading analysis, the algorithm can recover a close approximation of the true surface orientation under realistic assumptions about image noise. Results are presented that show the performance of the algorithm on synthetic and real data. In particular, they demonstrate how this form of reconstruction can compensate for some of the shape distortion incurred in local shading analysis.
We describe an algorithm for segmenting a 3D object into its constituent volumetric parts from a single 2D line drawing. This algorithm is part of the bottom-up line drawing description process of PARVO, a generic obj...
详细信息
We describe an algorithm for segmenting a 3D object into its constituent volumetric parts from a single 2D line drawing. This algorithm is part of the bottom-up line drawing description process of PARVO, a generic object recognition system. In PARVO, an object is recognized as being a member of a class defined by qualitative geometrical properties and topological structure. Similarity between different 3D views of any member of a given class is a result of building coarse part-based structural descriptions from limited information. A preliminary stage to part segmentation of an object consists of extracting viewpoint-invariant and nonaccidental features from the line drawing. The segmentation process itself is described as a hierarchical decomposition of the line drawing on the basis of pairs of high-concavity points in its silhouette. The pairing of these so-called segmentation points rests on (i) an object visibility model describing the generic structures present in any line drawing satisfying our assumptions, and (ii) the feature instances extracted from the specific line drawing analyzed. First, we discuss the properties of the line drawings in the domain of PARVO. From them, geometrical models of important line drawing features may be developed. The latter are used both as cues in the segmentation process and as precursors to the representation from which part structure is understood.
In this paper we nzake an attempt to bring out the rationale that, for complex robotic applications, contact sensors can provide certain vital information quite easily as compared to non-contact sensors. We begin with...
详细信息
A method for the determination of the location of an object is presented in this paper. The method uses correspondences of three or more 3-D points with their 2-D images. The object to be located is initially calibrat...
详细信息
A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, ...
详细信息
Intelligent robots interact with the real world by employing their advanced sensory mechanisms to perceive their environment, and their effectors and tools to change the state of their environment. Such intelligent ro...
详细信息
The authors have implemented a software environment that permits a small mobile robot to be programmed using the Scheme programming language. The environment supports incremental modifications to running programs and ...
详细信息
The authors have implemented a software environment that permits a small mobile robot to be programmed using the Scheme programming language. The environment supports incremental modifications to running programs and interactive debugging using a distributed read-evaluate-print loop. The programming environment separates the essential onboard run-time system from the development environment, which runs on a separate workstation. The development environment takes advantage of the workstation's large address space and user environment. It is fully detachable, so that the robot can operate autonomously if desired, and can be reattached for retrospective analysis of the robots behavior. To make concurrent applications easier to write, the run-time library provides multitasking and synchronization primitives. Tasks are lightweight, and all tasks run in the same address space.< >
A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, ...
详细信息
A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, typically edge-element-based, primitive for stereo analysis and to their use of a single-level control strategy. The multi-primitive hierarchical (MPH) framework for stereo analysis presented is directed toward overcoming these deficiencies. In the MPH model, stereo analysis is performed in multiple stages, incorporating multiple primitives and utilizing a hierarchical control strategy. The higher levels of the hierarchical system are based on primitives containing more semantic information, and the results of stereo analysis at higher levels are used for guidance at the lower levels. It is shown that such a stereo system is superior to a single-level, single-primitive system.< >
暂无评论