Development of the Aspect Graph Representation for Use in Robot Vision

Abstract

Over the past few years, a number of researchers have presented algorithms for computing the aspect graph representation for polyhedra and curved-surface objects. However, currently it is computer from the theoretical standpoint of perfect resolution in the viewpoint, the projected image and the object shape. This means that the aspect graph may include details that an observe could never see in practice. This paper reviews a complete implementation of an algorithm to compute the exact aspect graph of solids of revolution under the perspective projection in 3D space. The we explore the notion of introducing scale into the qualitative aspect graph framework, this providing a mechanism for selecting a level of detail that is large enough to merit explicit representation. Several alternative interpretations of the scale space aspect graph are examined in response to the results produced for an example object by the implemented system.

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Document Details

Document Type
Technical Report
Publication Date
Oct 31, 1991
Accession Number
ADA247109

Entities

People

  • Kevin Bowyer

Organizations

  • University of South Florida

Tags

Communities of Interest

  • Air Platforms
  • C4I
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Computer Science
  • Computer Vision
  • Computers
  • Coordinate Systems
  • Engineering
  • Expert Systems
  • Geometric Forms
  • Geometry
  • Lines (Geometry)
  • Object Recognition
  • Pattern Recognition
  • Recognition
  • Revolutions
  • Three Dimensional
  • Two Dimensional

Readers

  • Graph Algorithms and Convex Optimization.
  • Neural Network Machine Learning.
  • Systems Analysis and Design

Technology Areas

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