CVGIP: IMAGE UNDERSTANDING Vol. 55, No. 2, March, pp. 198-211, 1992 Viewpoint from Occluding Contour W. BRENT SEALES* Computer Science Department, University of Kentucky, Lexington, Kentucky 40536 AND CHARLES R. DYER Computer Science Department, University of Wisconsin, Madison, Wisconsin 53706 Received October 2, 1991; revised November 20, 1991 set of occluding contours in a single image. The precom- In this paper we presentthe geometryand the algorithmsfor puted model of how the contour can appear provides a organizing a viewer-centeredrepresentation of the occludingcon- set of constraints in viewpoint since the contour itself is tour of a polyhedron. The contour is computedfrom a polyhedral directly dependent upon viewing direction. Although fea- boundary modelas it would appearunder orthographicprojection tures of the occluding contour are strongly tied to view- into the image plane from every viewpoint on the view sphere. point, they have largely been ignored because of diffi- Usingthis representation,we showhow to derive constraintson culty in representation. regionsin viewpoint spacefrom the relationshipbetween detected The occluding contour is the projection in the image of imagefeatures and our precomputedcontour model. Such con- the points on a smooth surface where the visual direction straintsare basedon both qualitative (viewpoint extent) andquan- titative (angle measurementsand relative geometry)information is tangent. Much of the geometry associated with the that has been precomputed about how the contour appears in the occluding contour and its pr
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