Viewer-Centred
Representations
Introduction
Aspect graphs: basic concepts
Representing the visibility space
Computing exact aspect graphs
Polyhedral objects
Solids of revolution
Piecewise smooth objects
Summary: the applicability of aspect graphs
Approximate techniques
An example of an approximate technique
Deriving a VCR using cluster analysis
Using CVs for pose definition
Computing and using inspection-oriented VCRs
Stereo inspection
Path planning
Conclusions
References

Comments to: Sarah Price at ICBL.