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GEOMETRIC MODELING FOR COMPUTER VISION.
BRUCE G. BAUMGART
ABSTRACT:
This thesis is about a computer graphics approach to computer
vision. The main design idea is that a 3-D geometric model of the
physical world is an expedient bridge between image processing and
artificial intelligence, this idea is developed into a vision
modeling system consisting of two programs named GEOMED and CRE. The
system is demonstrated in the context of viewing objects on a
turntable.
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 Conclusion.
ADDENDUM.
9.0 References.
10.0 Appendices.
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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. MARCH 1974.
GEOMETRIC MODELING FOR COMPUTER VISION.
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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
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BY
BRUCE G. BAUMGART
MARCH 1974
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TABLE OF CONTENTS.
LIST OF BOXES.
LIST OF FIGURES.
ACKNOWLEDGEMENTS
Thesis Adviser:
John Mc Carthy
Readers:
Jerome A. Feldman
Donald E. Knuth
Alan C. Kay
Good people:
Jerry Agin,
Leona Baumgart,
Tom Binford,
Jack Buchanan,
Les Earnest,
Tom Gafford,
Steve Gibson,
Ralph Gorin,
Tovar Mock,
Andy Moorer,
Hans Moravec,
Richard Orban,
Ted Panofsky,
Lou Paul,
Lynn Quam,
Jeff Raskin,
Ron Rivest,
Irwin Sobel,
Robert Sproull,
Ivan Sutherland,
Dan Swinehart,
Russel Taylor,
Marty Tenenbaum,
Arthur Thomas,
1.0 INTRODUCTION.
The computer graphics approach to computer vision involves
using a 3-D geometric world model to bridge the gap between image
processing and artificial intelligence. Such geometric models
provide a goal for image analysis, an origin for image synthesis
(for verification), and a data structure for spatial problem
solving. The chapters of this thesis proceed from the general to the
particular in three parts: theory, programming, and application.
In Part I, the theory consists of two essays: chapter 2 is an
essay on vision and chapter 3 is an essay on geometric modeling. The
vision theory presented is speculative and much larger in scope than
the subsequent results; so although the vision theory guided the
design of programs and applications, I do not wish to claim that the
vision demonstrated comes close to confirming the theory. In
particular, if the reader skips chapter 2, the rest of the thesis can
be viewed as a discussion of a 3-D drawing program for automatically
generating and altering polyhedral scene descriptions by means of
video input.
In Part II, two computer programs named CRE and GEOMED are
explained. CRE is a solution to the problem of finding intensity
contours in a sequence of television pictures and of linking
corresponding contours from one picture to the next. The process is
automatic and is intended to run without human intervention. The
image sequence output of CRE is input to GEOMED, a package of 3-D
modeling routines. In GEOMED, the perceived CRE images may be
compared with synthetic images computed by a hidden line eliminator;
the perceived images may be used to generate new polyhedral object
descriptions; or the images may be used to solve for the camera
locus. The programming discussion is broken into three parts: memory,
process and control in chapters four, five and six respectively. In
the memory chapter, a small number of entities are introduced as
atoms, a node representation for each atom is explained, and the
assembly of atoms to represent further entities is begun. Chapter
five, on process, explains the bulk of the work, which has been to
develope a system of routines that do geometric modeling. Although
most of the techniques discussed in chapter five have been identified
as relevant to computer vision, collecting them into a menagerie
bears upon how such a system is to be integrated. Finally, chapter
six explains the command languages which define the interface between
the modeling system and its application. The command languages are
notable more for concise and comprehensive notation rather than for
human engineering; and so must be viewed as low level.
In Part III, the machinery of part II is applied to a number
of vision and model related problems. The main experimental
demonstration being the automatic acquistion of a polyhedral
description of objects rotated on a turntable before a television
camera under conventional lighting.