From Surface To Objects: Computer Vision and Three Dimensional Scene Analysis

Robert B. Fisher

This book was originally published by John Wiley and Sons, Chichester, 1989.

A full PDF version (5 Mb) of the book can be downloaded from here.

• Preface
• An Introduction to Recognition Using Surfaces
  • Object Recognition
  • An Overview of the Research
  
  
• Object Recognition from Surface Information
  • The Nature of Recognition
  • Some Previous Object Recognition Systems
  • Recognition Approaches
  
  
• Surface Data as Input for Recognition
  • The Labeled Segmented Surface Image
  • Why Use Surfaces for Recognition?
  
  
• Making Complete Surface Hypotheses
  • Reconstructing Obscured Surfaces
  • Examples from the Test Scenes
  • Discussion
  
  
• Surface Clusters
  • Why Surface Clusters?
  • Theory of Surface Clusters
  • Examples of Surface Cluster Formation
  • Relation to Other Work
  • Discussion
  
  
• Description of Three Dimensional Structures
  • Some Three Dimensional Structural Descriptions
  • Boundary Curvature
  • Boundary Length
  • Parallel Boundaries
  • Relative Boundary Orientation
  • Surface Curvature
  • Absolute Surface Area
  • Surface Elongation
  • Relative Surface Orientation
  • Relative Surface Area
  
  
• Object Representation
  • The Geometric Model
  • Other Model Information
  • The SMS Object Representation Approach
  • Other Object Representation Approaches
  
  
• Model Invocation
  • Some Characteristics of the Invocation Process
  • Theory: Evidence and Association
    • Property Evidence
    • Supercomponent Associations
    • Subcomponent Associations
    • Description Evidence
    • Superclass Evidence
    • Subclass Evidence
    • General Associations
    • Identity Inhibition
    • Evidence Integration
    • Network Evaluation
  • Evaluating the Invocation Process
  • Related Work
  • Discussion
  
  
• Hypothesis Construction
  • Thoughts on Hypothesis Construction
  • Deducing Object Position
    • Geometric Reasoning
    • Estimating Individual Surface Reference Frames
      • Estimating Surface Rotation
      • Estimating SURFACE Translations
    • Estimating ASSEMBLY Reference Frames
      • ASSEMBLY Reference Frame Calculation Results
      • Estimating Reference Frames from Previously Recognized Subcomponents
    • Network Based Geometric Reasoning
  • Feature Visibility Analysis
    • Deducing Back-Facing SURFACEs
    • Deducing Self-Obscured SURFACEs
    • Detecting External Occlusion
  • Direct Evidence Collection
    • Initial (Invocation) Feature Evidence
    • Additional SURFACE Feature Location
    • Rigid Subcomponent Aggregation
    • Binding Subcomponents with Degrees of Freedom
  • Relation to Other Research
  • Discussion
  
  
• Hypothesis Verification
  • What Should Verification Do?
  • Constraining Object Existence and Identity
    • SURFACE Verification
    • Rigid ASSEMBLY Verification
    • Non-rigidly Connected Object Verification
    • Numerical Constraint Evaluation
  • Verification Performance and Discussion
  • Related Work
  • Discussion
  
  
• Discussion and Conclusions
  • Summary of Outstanding Problems
  • The IMAGINE II System
  • Conclusion
  
  
• Bibliography
• A Portion of the Model Base
• About this document ...