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C00005 00003 {λ40JAFA}TITLE PAGE.{JR} AUGUST 1974.
C00007 00004 λ40FAJCFD} COPYRIGHT NOTICE.
C00008 00005 λ40FAJCFD} SIGNATURE PAGE FOR Ph.D. DISSERTATION.
C00010 00006 JCFD} LIST OF BOXES.
C00019 00007 JCFD} LIST OF FIGURES.
C00022 00008 JAJCFD} ACKNOWLEDGEMENTS.
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{JA;FA}COVER PAGE.{JR} AUGUST 1974.
{JC} DRAFT -- DRAFT -- DRAFT -- DRAFT -- DRAFT -- DRAFT -- DRAFT -- DRAFT -- DRAFT -- DRAFT{
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{I400,0;JC;FD} GEOMETRIC MODELING FOR COMPUTER VISION.
{I600,0;JC;FD} BRUCE G. BAUMGART
{I800,0;λ17;JUFA}ABSTRACT:
\The main idea of this thesis is that a three dimensional
geometric model of the physical world is an essential part of a
general purpose vision system. Such a model provides a goal for
descriptive image analysis, an origin for verification image
synthesis, and a context for spatial problem solving. Some of the
design ideas to be presented have been implemented in two programs
named GEOMED and CRE; the programs are demonstrated in situations
involving camera motion relative to a static world.
{λ5;H4;I1600,0;V1600,1260;I1600,0;JU;F2}
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.
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{λ40;JA;FA}TITLE PAGE.{JR} AUGUST 1974.
{I400,0;JC;FD} GEOMETRIC MODELING FOR COMPUTER VISION.
{JCFA} A DISSERTATION
{JC} SUBMITTED TO THE DEPARTMENT OF COMPUTER SCIENCE
{JC} AND THE COMMITTEE ON GRADUATE STUDIES
{JC} OF STANFORD UNIVERSITY
{JC} IN PARTIAL FULFILLMENT OF THE REQUIREMENTS
{JC} FOR THE DEGREE OF
{JC} DOCTOR OF PHILOSOPHY
{JC} BY
{JC} BRUCE GUENTHER BAUMGART
{JC} AUGUST 1974
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I1900,0;JC;JUFA} - i -{Q;
λ40;FA;JCFD} COPYRIGHT NOTICE.
{I785,432;H4;C30;}
{I800,0;JC} C COPYRIGHT 1974.
{I950,0;JC} BY
{I1100,0;JC} BRUCE GUENTHER BAUMGART
{I1900,0;JC;JUFA} - ii -{Q;
λ40;FA;JCFD} SIGNATURE PAGE FOR Ph.D. DISSERTATION.
{λ15;W300,1260-300;JU;FA}
\I certify that I have read this thesis and that in my
opinion it is fully adequate, in scope and quality, as a dissertation
for the degree of Doctor of Philosophy.{
H4;I∂80,630;V∂0,1260;}
{I∂0,630;}Principal Adviser
\I certify that I have read this thesis and that in my
opinion it is fully adequate, in scope and quality, as a dissertation
for the degree of Doctor of Philosophy.{
H4;I∂80,630;V∂0,1260;}
\I certify that I have read this thesis and that in my
opinion it is fully adequate, in scope and quality, as a dissertation
for the degree of Doctor of Philosophy.{
H4;I∂80,630;V∂0,1260;}
\I certify that I have read this thesis and that in my
opinion it is fully adequate, in scope and quality, as a dissertation
for the degree of Doctor of Philosophy.{
H4;I∂80,630;V∂0,1260;}
Approved for the University Committee on Graduate Studies:
{H4;I∂80,630;V∂0,1260;}
{W0,1260;I∂0,630;}Dean of Graduate Studies.
{JV;I1900,0;JC;JUFA} - iii -{Q;
JC;FD} LIST OF BOXES.
{JA;λ12;FA}
SECTION 0. INTRODUCTION.
SECTION 1. GEOMETRIC MODELING THEORY.
1.1 Ten Kinds of Geometric Models.
1.2 Desirable Properties for a Geometric Model.
1.3 Properties of Polyhedra.
SECTION 2. THE WINGED EDGE POLYHEDRON REPRESENTATION.
2.1 Winged Edge Structures and Links.
2.2 Lowest Level Winged Edge Routines.
SECTION 3. A GEOMETRIC MODELING SYSTEM.
3.1 The Euler Primitives.
3.2 Routines Using the Euler Primitives.
3.3 Euclidean Transformations.
3.4 Tram Routines.
3.5 Metric Routines.
3.6 Space Routines.
SECTION 4. HIDDEN LINE ELIMINATION FOR COMPUTER VISION.
SECTION 5. A POLYHEDRON INTERSECTION ALGORITHM.
SECTION 6. COMPUTER VISION THEORY.
SECTION 7. VIDEO IMAGE CONTOURING.
SECTION 8. IMAGE COMPARING.
SECTION 9. CAMERA AND FEATURE LOCUS SOLVING.
SECTION 10. RESULTS AND CONCLUSIONS.
{I1900,0;JC;JUFA} - vi -{Q;
JCFD} LIST OF FIGURES.
{JAFA}
SECTION 0. INTRODUCTION.
0.1 Horse Shaped Polyhedra Derived from Video Images.
0.2 Model of Water Pump.
0.3 Example of Predicted Video and Perceived Video.
0.4 Example of Predicted and Perceived Contour Images.
SECTION 1. GEOMETRIC MODELING THEORY.
SECTION 2. THE WINGED EDGE POLYHEDRON REPRESENTATION.
2.1 Winged Edge Topology.
2.2 Three Kinds of Perimeters.
2.3 ESPLIT and KLEV.
2.4 MKFE and KLFE.
SECTION 3. A GEOMETRIC MODELING SYSTEM.
3.1 The 24 Dislays of Example #1.
3.2 The 24 Dislays of Example #2.
3.3 Five Kinds of Non-Solid Polyhedra.
3.4 Examples of MKCUBE, MKCYLN and MKBALL.
3.5 Creation of a Solid of Rotation by Sweeping a Wire.
3.6 Sweep and Glue.
3.7 Icosahedron by Prismoid sweep and pyramid sweep.
3.8 Three Cut Torus Dissection into Thirteen Parts.
SECTION 4. HIDDEN LINE ELIMINATION FOR COMPUTER VISION.
SECTION 5. A POLYHEDRON INTERSECTION ALGORITHM.
5.1 Polyhedron Intersection, Union and Subtraction.
5.2 Face Piercing Geometry.
5.3 Surface Edges and Interior Edges of Intersection.
5.4 Fetch Other Piercing Vertex of a Face.
5.5 Example of a Face Hole Fixup.
5.6 Examples of Face Convexity Coercion.
5.7 Body cutting illustrated.
SECTION 6. COMPUTER VISION THEORY.
SECTION 7. VIDEO IMAGE CONTOURING.
SECTION 8. IMAGE COMPARING.
SECTION 9. CAMERA AND FEATURE LOCUS SOLVING.
SECTION 10. RESULTS AND CONCLUSIONS.
{I1900,0;JC;JUFA} - vii -{Q;
JAJCFD} ACKNOWLEDGEMENTS.
{FA}
The following people personally contributed to this work:
Thesis Adviser: {JC} John McCarthy
Readers: {JC} Donald E. Knuth, Alan C. Kay, Ken Colby.
{JC} Jerry Agin, Leona Baumgart, Tom Binford, Jack Buchanan, Whitfield Diffie, Les Earnest,
{JC} Jerome Feldman, Tom Gafford, Steve Gibson, Ralph Gorin, Carl Hewett, Jack Holloway, Tovar Mock,
{JC} Andy Moorer, Hans Moravec, Richard Orban, Ted Panofsky, Lou Paul, Phip Petit, Dave Poole,
{JC} Lynn Quam, Jeff Raskin, Ron Rivest, Rod Schmidt, Irwin Sobel, Robert Sproull, Dan Swinehart,
{JC} Russel Taylor, Marty Tenenbaum, Larry Tesler, Arthur Thomas, Yorick Wilks, Fred Wright.
{JCFD} TYPOGRAPHY
{JU;FA}
The orginal copy of this document was produced on a Xerox Graphics
Printer with a resolution of two hundred point per inch. The
principal font is News Gothic Boldface, 25 units high, which
originated at Carneige Mellon University. The page layout, text
justification, boxes, halftones and line drawings were done using the
author's document formating program, XIP. The source files were
prepared using the text editor, E, created by Dan Swinehart and Fred
Wright.
{I1900,0;JC;JUFA} - viii -{