Three-dimensional object recognition
ACM Computing Surveys (CSUR) - Annals of discrete mathematics, 24
Perceptual organization and the representation of natural form
Artificial Intelligence
Proceedings of Computer Graphics Tokyo '86 on Advanced Computer Graphics
Marching cubes: A high resolution 3D surface construction algorithm
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Hyperquadrics: smoothly deformable shapes with convex polyhedral bounds
Computer Vision, Graphics, and Image Processing
Constructing Isosurfaces From CT Data
IEEE Computer Graphics and Applications
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An approach is presented to giving a robot the ability to move safely through a scene using its own vision that depends, as in humans, on the ability to operate explicitly in both space and time and to exploit the massive redundancy present in the hundreds of views that can be obtained when moving through a scene. The mechanism for integrating these space-time factors is a 3-D surface-building process called the Weaving Wall. In robotic navigation work the 3-D surfaces built by its process represent the space-time evolution of scene images, and this representation, in conjunction with geometric constraints, enables the 3-D structure of the scene to be determined. In other domains where there is a gradual evolution of data over a third dimension (e.g. medical tomography), the surfaces constructed by the Weaving Wall are immediately of value for their topographic structure. The designs of both the surface-building and scene-reconstruction processes make them well suited for real-time operation, given appropriate hardware.