Computing occlusion-free viewpoints

Author

Tarabanis, Konstantinos ; Tsai, Roger Y. ; Kaul, Anil

Author_Institution

Manuf. Res., IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA

Volume

18

Issue

3

fYear

1996

fDate

3/1/1996 12:00:00 AM

Firstpage

279

Lastpage

292

Abstract

This paper presents methods to compute the locus of all viewpoints from which features on known polyhedral objects can be viewed in their entirety without being occluded by anything in the environment. Convex and concave polyhedra with or without holes and the viewing model of perspective projection are employed in this work. Initially, properties of the occlusion-free and occluded loci of viewpoints are determined. Based on these properties, two methods to construct these loci together with their complexity analysis are presented. In the first method, a boundary representation of the occlusion-free locus is obtained. In the second method, the locus of occluded viewpoints is expressed in terms of a constructive solid geometry representation that consists of a union of component solids. Implementation results and comparison of the two methods are given

Keywords

computational complexity; computational geometry; feature extraction; image representation; planning (artificial intelligence); robot vision; solid modelling; visibility; boundary representation; complexity analysis; concave polyhedra; convex polyhedra; occlusion-free locus; occlusion-free viewpoints; polyhedral objects; solid geometry representation; viewpoint planning; visibility occlusion; Cameras; Computer vision; Geometry; Machine vision; Optical control; Optical sensors; Robot sensing systems; Robot vision systems; Sensor phenomena and characterization; Solids;

fLanguage

English

Journal_Title

Pattern Analysis and Machine Intelligence, IEEE Transactions on

Publisher

ieee

ISSN

0162-8828

Type

jour

DOI

10.1109/34.485556

Filename

485556