Body-centered representation and perception

  • Thomas O. Binford
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 994)


Intuitive notions of shape, object, and part are informative for perception and modeling. Intuitive sense of shape is a volume concept, not a surface concept; shape relates surfaces typically as ratios of diameters.

We propose a natural 3-d definition based on function. Parts are volume elements derived as a visual observable from a fundamental part definition, based on C1 continuity of generalized cylinder (GC) primitives. Parts observable from quasi-invariants from GC primitives implement a useful object-background discrimination.

The value of such a shape representation is that the concepts of the representation map one-one into nodes in a Bayesian network for perception.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1995

Authors and Affiliations

  • Thomas O. Binford
    • 1
  1. 1.Robotics Laboratory Computer Science DepartmentStanford UniversityStanford

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