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Smooth Surfaces and their Outlines II Elements of Differential Geometry What are the Inflections of the Contour? Koenderink’s Theorem Reading: Smooth Surfaces and their Outlines This file on: feather.ai.uiuc.edu in pub/ponce/lect25.ppt.gz

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## Smooth Surfaces and their Outlines II

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**Smooth Surfaces and their Outlines II**• Elements of Differential Geometry • What are the Inflections of the Contour? • Koenderink’s Theorem • Reading: Smooth Surfaces and their Outlines • This file on: feather.ai.uiuc.edu in pub/ponce/lect25.ppt.gz • Final: Take-home, given on Thursday, due on Monday.**Smooth Shapes and their Outlines**Can we say anything about a 3D shape from the shape of its contour?**What are the contour stable features??**folds cusps T-junctions Shadows are like silhouettes..**Differential geometry: geometry in the small**The normal to a curve is perpendicular to the tangent line. A tangent is the limit of a sequence of secants.**What can happen to a curve in the vicinity of a point?**(a) Regular point; (b) inflection; (c) cusp of the first kind; (d) cusp of the second kind.**The Gauss Map**It maps points on a curve onto points on the unit circle. The direction of traversal of the Gaussian image reverts at inflections: it fold there.**The curvature**C • C is the center of curvature; • R = CP is the radius of curvature; • k = lim dq/ds = 1/R is the curvature.**Normal sections and normal curvatures**Principal curvatures: minimum value k maximum value k Gaussian curvature: K = k k 1 1 2 2**The local shape of a smooth surface**Elliptic point Hyperbolic point K > 0 K < 0 K = 0 Parabolic point**The Gauss map**The Gauss map folds at parabolic points.**Smooth Shapes and their Outlines**Can we say anything about a 3D shape from the shape of its contour?**Theorem [Koenderink, 1984]: the inflections of the**silhouette are the projections of parabolic points.**Koenderink’s Theorem (1984)**K = kk r c Note: k > 0. r Corollary: K and k have the same sign! c**From Horn’s**Robot Vision

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