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Determining Attitude of Object from Needle Map Using Extended Gaussian Image.

Author: Katsushi Ikeuchi; MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB.
Publisher: Ft. Belvoir Defense Technical Information Center APR 1983.
Edition/Format:   Book : EnglishView all editions and formats
Database:WorldCat
Summary:
An extended Gaussian image (EGI) is constructed by mapping the surface normals of an object onto the Gaussian sphere. The attitude of an object is greatly constrained by the global distribution of EGI mass over the visible Gaussian hemisphere. Constraints on the viewer direction are derived from the position of the EGI mass center, and from the direction of the EGI inertia axis. The algorithm embodying these  Read more...
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Document Type: Book
All Authors / Contributors: Katsushi Ikeuchi; MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB.
OCLC Number: 227590845
Description: 28 p.

Abstract:

An extended Gaussian image (EGI) is constructed by mapping the surface normals of an object onto the Gaussian sphere. The attitude of an object is greatly constrained by the global distribution of EGI mass over the visible Gaussian hemisphere. Constraints on the viewer direction are derived from the position of the EGI mass center, and from the direction of the EGI inertia axis. The algorithm embodying these constraints and the EGI mass distribution are implemented using a lookup table. A function for matching an observed EGI with the prototypical EGIs is also proposed. The algorithm determines the attitude of an object successfully both from a synthesized needle map and a real needle map. (Author).

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