Book Name: Active Visual Inference of Surface Shape
Author: Roberto Cipolla
ISBN : 978-3-540-48522-3
This thesis paper is devoted to visual motion and differential geometry which is a innermost problem in computer vision with instant significance for robot manipulation and navigation. Chapter 2 develops new theories relating the visual motion of apparent contours to the geometry of the visible surface. Chapter 3 presents the implementation of these theories and describes results with a camera mounted on a moving robot arm. Chapter 4 describes the constraints placed on surface differential geometry by observing a surface curve from a sequence of positions. Chapter 5 presents a novel method to measure the differential invariants of the image velocity field robustly by computing average values from the integral of normal image velocities around closed contours.
Active Visual Inference of Surface Shape