3D Model Recognition from Stereoscopic Cues
John E. W. Mayhew, John P. Frisby
MIT Press, 1991 - Computers - 269 pages
3D Model Recognition from Stereoscopic Cues provides a rich, integrated account of work done within a large-scale, multisite, Alvey-funded collaborative project in computer vision. It presents a variety of methods for deriving surface descriptions from stereoscopic data and for matching those descriptions to three-dimensional models for the purposes of object recognition, vision verification, autonomous vehicle guidance, and robot workstation guidance. State of the art vision systems are. described in sufficient detail to allow researchers to replicate the results.
John P. Frisby is Professor of Psychology at the University of Sheffield where John E. W. Mayhew is Scientific Director of the AI Vision Unit.
Partial Contents: The PMF Stereo Algorithm Project. A Dynamic Programming Algorithm for Binocular Stereo Vision. Stereo Matching Using Intra- and Inter-Row Dynamic Programming. A Computational Theory of Stereo Vision. A Piplid Architecture for the Canny Edge Detector. Estimation of Stereo and Motion Parameters Using a Variational Principle. The 2.5D Sketch Project. Segmentation and Description of Binocularly Viewed Contours. Inferring Surface Shape by Specular Stereo. Surface Descriptions from Stereo and Shading. The 3D Model-Based Vision Project. Matching Geometrical Descriptions in ThreeSpace. Advances in 3D Model Indentification from Stereo Data. Dupin's Cyclide and the Cyclide Patch. Geometric Reasoning in a Parallel Network. SMS: A Suggestive Modelling System for Object Recognition. WPFM: The Workspace Prediction and Fast Matching System. The Design of the IMAGINE II Scene Analysis Program. Overview. TINA: A 3D Vision System for Pick and Place.
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n PMF STEREO ALGORITHM PROJECT 7
Disparity Gradient Lipschitz Continuity and Computing Binocular Correspondences 2 5
Implementation Details of the PMF Stereo Algorithm 3 3
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AIVRU allow Alvey angle approximately Artificial Intelligence axis Blake boundary Canny Canny edge detector Computer Vision context coordinate curvature curve cyclide data segments defined depth described disambiguation discontinuities disparity gradient limit equation error estimate example Figure focus features frame Frisby function geometric reasoning geometrical descriptions heuristic horizontal implemented interpolation iteration left image linear Mayhew measurement method model edge modules nodes object operation optic flow orientation pair parallel parameters patch pixels plane points Pollard Porrill position potential matches primitives principal curvatures problem Proc processor Project quadric range reconstruction region relationships representation represented Research result right image robot rotation scale-space scene Sheffield shown space specularities stereo algorithm stereo correspondence stereo vision stereogram stereopsis stereoscopic structure surface surface normal tion transformation transputer University of Edinburgh University of Sheffield vector vertical viewpoint visible vision system visual weak string