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TITLE PAGE - 1.						JANUARY 1974.
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               GEOMETRIC MODELING FOR COMPUTER VISION.


                          BRUCE G. BAUMGART


ABSTRACT:

	This thesis is about a computer vision  system based on three
dimensional  geometric  modeling of  the  objects being  viewed.   In
principle, this vision system is a  process that can be applied to  a
reel  of  video tape  to  compute  blueprints. Applications  of  this
system  to  object recognition,    scene analysis  and  robot vehicle
control are demonstrated.


CONTENTS:

	PART ONE. THEORY.
		 1.0	Introduction.
		 2.0	Computer Vision Theory.
		 3.0	Geometric Modeling Theory.

	PART TWO. PROGRAMMING.
		 4.0	Memory  - data structures.
		 5.0	Process - algorithms.
		 6.0	Control - command languages.

	PART THREE. APPLICATION.
		 7.0	Demonstrated Applications.
		 8.0	Proposed Applications.
		 9.0	Conclusion.

	ADDENDUM
		10.0	Glossary.
		11.0	References.


This  research  was  supported  in  part  by  the  Advanced  Research
Projects  Agency of  the  Office of  the Secretary  of  Defense under
Contract No. SD-183.

The views and  conclusions contained  in this document  are those  of
the author and should not  be interpreted as necessarily representing
the  official policies, either expressed or  implied, of the Advanced
Research Project Agency or the United States Government.
TITLE PAGE - 2.						JANUARY 1974.



               GEOMETRIC MODELING FOR COMPUTER VISION.




                           A DISSERTATION
           SUBMITTED TO THE DEPARTMENT OF COMPUTER SCIENCE
                AND THE COMMITTEE ON GRADUATE STUDIES
                       OF STANFORD UNIVERSITY
             IN PARTIAL FULFILLMENT OF THE REQUIREMENTS
                          FOR THE DEGREE OF
                        DOCTOR OF PHILOSOPHY




                                 BY
                          BRUCE G. BAUMGART

                            JANUARY 1974
ACKNOWLEDGEMENTS

	John Mc Carthy - thesis adviser.
	Hans Moravec  -  for suggesting light scattering model
			and work on cart hardware.
	Les Earnest - for generous disk allocation and a UDP.
	Tovar Mock - text & arrowheads and other nuisances.

	Lou Paul, Russel Taylor, Robert Sproull,
	Jeff Raskin, Steve Gibson, Arthur Thomas,
	Ralph Gorin,

LIST OF ILLUSTRATIONS.
DETAILED TABLE OF CONTENTS.