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.