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Tom,
Would you read over this and make whatever changes you wish?
Harlyn

	EVALUATION, DETAILED DESIGN, AND IMPLEMENTATION EXAMPLES
	--------------------------------------------------------
			   FOR A RULE-BASED
			   ----------------
		    AUTOMATED STEREO MAPPING SYSTEM
		    -------------------------------

			    PROGRESS REPORT
			   November 19, 1982

		Stanford Artificial Intelligence Laboratory

		RADC POSTDOC MILESTONES AND DEMONSTRATION
	        -----------------------------------------

Our last submission to RADC was a timetable of research milestones, leading to a
demonstration of several modes  of stereo mapping technique.  We report here  on
our accomplishments to date.

The focus of the  research over this postdoctoral  contract has been to  augment
and refine the specification of image matching strategies to be employed in  our
ultimate stereo mapping system.  We do  this both with theoretical analyses  and
with hand and automated analyses of specific matching strategies applied to both
real and synthesized imagery examples.  The demonstration, to be held at the end
of the four  month contract (running  from August 15  through December 15),  was
designed to bring together results from several analysis approaches. As such  it
will provide  both  a demonstration  of  current manual  and  automated  mapping
abilities, and a  chance to assess  their applicability to  our planned  system.
These tests, and associated  trial implementations of  selected elements of  the
stereo mapping system, will provide design exercises leading to detailed  design
of major parts of the system.  The demonstration outline follows:

			    Demonstration
			    -------------
	a) the hand synthesis of extended edges,
	b) rule-based manual matching of these edges,
	c) rule-based manual matching of edges from an automated
	   process [Marimont  1982],
	d) automated matching using Baker's system,
	e) automated matching using Baker's system with Marimont's
	   extended edges, and, if facilities changes and time permit,
	f) computer-assisted stereo correspondence on the stereo station.

Our work with  hand synthesized  data depends on  our use  of a  student-written
program that  operates  a digitizing  tablet.   This program allows  interactive
construction of line lists.  We had  thought the existing program adequate,  but
on beginning use of it found  that significant improvement was required to  meet
our needs. This  has been begun,  and should  be completed within  the next  ten
days.  The principal  improvement is that  it should give  a line-based  network
description of image intensity contours; the previous program did not produce  a
network description.  Delay on this puts us about three weeks behind schedule on
the production  of hand  synthesized  edge data;  overlap  of other  tasks,  and
intentional slack in the scheduling make this delay acceptable.

Work has begun  on rule-based  manual matching  of hand  synthesized edge  data.

Edges have been obtained  from the automated process  of Marimont for the  first
set of demonstration data (building complex).  Work is proceeding on the  second
set (Nasa Ames site), results  of which should be available  at the end of  this
week (roughly to schedule). The data from this process will be used in both  the
manual  matching  tests  and  in  the  automated  matching  of  Baker's  system.
Significant alteration was required  in the Marimont code  in making it  provide
image intensity information necessary for processing in the Baker system.

A restructuring  of the  Baker  system for  automated  stereo mapping  has  been
finished, and testing has begun on the two data sets.  Results from the building
complex should be available at the end of the week, and those from the Nasa site
by the following week (again, to schedule). Complications may arise with this in
that neither set of imagery is in a collinear epipolar frame, and both may  need
to be transformed before good  matching results can be obtained.   Modifications
are being incorporated into  this system to  allow it to  use the edges  derived
from Marimont's edge processing, and tests with this data will begin toward  the
beginning of the next week.

The analysis of epipolar image registration is continuing. The interest here  is
in providing  a means  for determining  corresponding epipolar  lines from  edge
matchings  specified  either  automatically  or  manually.   Current  effort  is
directed at obtaining  a computationally stable  implementation for  determining
the epipolar transforms.  The difficulty here is in chosing an algorithm that is
relatively insensitive to the common  degeneracy of aerial viewing: points  used
for camera solving lie at about the same distance from the imaging point.  Here,
the discreteness in  the sample  points' two-space positionings  leads to  large
uncertainty in the imaging point's three-space positioning. We are investigating
several algorithms.

A revised timetable and list of milestones follows:

			    Milestones
			    ----------
	  Automated segmentation
			  Building complex                Nov 15
			  Nasa-Ames             	  Nov 26
	  Stereo station analysis for ground truth
			  building complex(conditional)   Nov 22
	  Automated matching with Baker system
			  building complex                Nov 22
			  Nasa-Ames                       Nov 29
	  Implementation of digitizing facility		  Nov 29
	  Hand Digitization of edges
			  Nasa-Ames stereo pair           Nov 24
			  building complex                Nov 29
	  Registration of imagery from terminations
		  and vertices: Nasa-Ames                 Nov 29
				building complex            "
	  Simulation of rule system for correspondence
			  Nasa-Ames                       Dec 6
			  building complex                  "
	  Simulation of rule system for correspondence
		  using Marimont edges
			  building complex                Dec 10
			  Nasa-Ames                       Dec 10
	  Automated matching with Baker system,
		  using Marimont edges
			  building complex                Dec 10
			  Nasa-Ames                       Dec 10
	  Examination of OTV inference rules as
		 ACRONYM rules(possible implementation)   Dec 10

	  Demonstration of matching systems               Dec 17
			    


       Hand synthesis    Automated edge     Automated stereo  Stereo station  Registration
       of edge data   extraction(Marimont)  matching (Baker)   analysis

Nov 1   |                      |                   |              |                |
Nov 8   |                      |                   |              |                |
Nov 15  |  rule-based          X                   |              |                |
        |  matching            X                   |              |                |
Nov 22  |     |   ____________/ \_______________   X              X                |
Nov 29  X     |  /                              \  X       OTV's in ACRONYM        X
Dec 6         | /                                \ |              |
Dec 10        X-                                  -X              X
Dec 17                   Demonstration