Artificial Vision

6

Geometric Modelling and Spatial Reasoning

6.1 Introduction

6.2 Object representations for recognition

6.3 Representation schemes

6.3.1 Boundary schemes

6.3.2 Decomposition schemes

6.3.3 Constructive schemes

6.3.4 Geon-based schemes

6.4 Representation issues in image understanding

6.5 Algorithms for spatial reasoning

6.5.1 Object reconstruction from a set of points

6.5.2 Object reconstruction from stereo data.

6.5.3 Free space map construction and path planning

6.6 Conclusions

6.1 INTRODUCTION

We consider the problem of modelling and manipulating 3D shapes, with a special emphasis on applications in image understanding. The problem of designing a representation scheme for solid objects has been extensively studied in the context of ...