Page 8 - Dynamic Vision for Perception and Control of Motion

Contents

1 Introduction....................................................................... 1

1.1 Different Types of Vision Tasks and Systems .......................................... 1
1.2 Why Perception and Action? .................................................................... 3
1.3 Why Perception and Not Just Vision? ...................................................... 4
1.4 What Are Appropriate Interpretation Spaces?........................................... 5

1.4.1 Differential Models for Perception ‘Here and Now’...................... 8
1.4.2 Local Integrals as Central Elements for Perception ....................... 9
1.4.3 Global Integrals for Situation Assessment ................................... 11
1.5 What Type of Vision System Is Most Adequate? ................................... 11
1.6 Influence of the Material Substrate on System Design:
Technical vs. Biological Systems............................................................ 14
1.7 What Is Intelligence? A Practical (Ecological) Definition ....................... 15
1.8 Structuring of Material Covered............................................................... 18

2 Basic Relations: Image Sequences – “the World”...... 21

2.1 Three-dimensional (3-D) Space and Time................................................ 23
2.1.1 Homogeneous Coordinate Transformations in 3-D Space .......... 25
2.1.2 Jacobian Matrices for Concatenations of HCMs.......................... 35
2.1.3 Time Representation .................................................................... 39
2.1.4 Multiple Scales............................................................................. 41

2.2 Objects..................................................................................................... 43
2.2.1 Generic 4-D Object Classes ......................................................... 44
2.2.2 Stationary Objects, Buildings....................................................... 44