Toward a Surface Sketch,

Abstract

This paper reports progress toward the development of a representation of significant surface changes in dense depth maps. The authors call the representation the Surface Primal Sketch by analogy with representations of intensity changes, image structure, and changes in curvature of planar curves. They describe an implemented program that detects, localizes, and symbolically describes: steps, where the surface height function is discontinuous; roofs, where the surface is continuous but the surface normal is discontinuous; smooth joins, where the surface normal is continuous but a principal curvature is discontinuous and changes sign; and shoulders, which consist of two roofs and correspond to a step viewed obliquely. The performance of the program on range maps of objects of varying complexity is illustrated. Additional keywords: artificial intelligence; three dimensional vision; robotics; images; mathematical models; algorithms; geometry. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 1985
Accession Number
ADA159693

Entities

People

  • J. Ponce
  • M. Brady

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Body Regions
  • Computations
  • Computer Science
  • Curvature
  • Differential Geometry
  • Discontinuities
  • Gaussian Distributions
  • Geometric Forms
  • Geometry
  • Information Systems
  • Intensity
  • Lines (Geometry)
  • Range Finding
  • Recognition
  • Shoulder
  • Three Dimensional

Readers

  • Database Systems and Applications
  • Neural Network Machine Learning.
  • Structural Dynamics.

Technology Areas

  • AI & ML
  • AI & ML - Machine Learning Algorithms
  • Autonomy