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SECTION  0.		INTRODUCTION.

SECTION  1.		GEOMETRIC MODELING THEORY.
		1.1	Ten Kinds of Geometric Models∞.7
		1.2	Desirable Properties for a Geometric Model∞.11
		1.3	Properties of Polyhedra∞.12

SECTION  2.		THE WINGED EDGE POLYHEDRON REPRESENTATION.
		2.1	Winged Edge Structures and Links∞.17
		2.2	Lowest Level Winged Edge Routines∞.21

SECTION  3.		A GEOMETRIC MODELING SYSTEM.
		3.1	The Euler Primitives∞.31
		3.2	Routines Using the Euler Primitives∞.34
		3.3	Euclidean Transformations∞.38
		3.4	Tram Routines∞.39
		3.5	Metric Routines∞.42
		3.6	Simple Space Routines∞.42

SECTION  4.		HIDDEN LINE ELIMINATION FOR COMPUTER VISION.
		4.1	Five Hidden Line Elimination Techniques∞.48
		4.2	Status Bits for Occult Marking∞.49
		4.3	Normalized Face and Edge Coefficients∞.50
		4.4	Edge-Edge Compare Steps∞.53
		4.5	Recursive Windowing routines∞.56

SECTION  5.		A POLYHEDRON INTERSECTION ALGORITHM.

SECTION  6.		COMPUTER VISION THEORY.
		6.1	Vision System Hierarchy∞.69
		6.2	Three Basic Modes of Vision∞.69
		6.3	Basic Feedback Vision System Design∞.70
		6.4	Processors of a 3-D Vision System∞.71
		6.5	Six Examples of Computer Vision Tasks∞.72
		6.6	Alternatives to 3-D Geometric Modeling∞.75
		6.7	Cart Vision Mandala∞.77
		6.8	A Possible Cart Task Solution∞.78

SECTION  7.		VIDEO IMAGE CONTOURING.
		7.1	CRE Design Choices∞.84
		7.2	CRE Data Transformations∞.86

SECTION  8.		IMAGE COMPARING.

SECTION  9.		CAMERA AND FEATURE LOCUS SOLVING.

SECTION 10.		RESULTS AND CONCLUSIONS.
		10.1	Accomplishments and Original Contributions∞.116
		10.2	Suggestions for Future Work∞.119
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