5,038 research outputs found
Hyperbolic groups acting improperly
In this paper we study hyperbolic groups acting on CAT(0) cube complexes. The
first main result (Theorem A) is a structural result about the Sageev
construction, in which we relate quasi-convexity of hyperplane stabilizers with
quasi-convexity of cell stabilizers. The second main result (Theorem D)
generalizes both Agol's theorem on cubulated hyperbolic groups and Wise's
Quasi-convex Hierarchy Theorem.Comment: 52pp. In v3, some unnecessary assumptions are dropped from some
technical results, especially in Section 5 and Corollary 6.5. The main
results are unchanged, but the improved technical results are expected to be
useful in future work. Several other small improvements to the exposition
have been mad
System integration report
Several areas that arise from the system integration issue were examined. Intersystem analysis is discussed as it relates to software development, shared data bases and interfaces between TEMPUS and PLAID, shaded graphics rendering systems, object design (BUILD), the TEMPUS animation system, anthropometric lab integration, ongoing TEMPUS support and maintenance, and the impact of UNIX and local workstations on the OSDS environment
Surface and Volumetric Segmentation of Complex 3-D Objects Using Parametric Shape Models
The problem of part definition, description, and decomposition is central to the shape recognition systems. In this dissertation, we develop an integrated framework for segmenting dense range data of complex 3-D scenes into their constituent parts in terms of surface and volumetric primitives. Unlike previous approaches, we use geometric properties derived from surface, as well as volumetric models, to recover structured descriptions of complex objects without a priori domain knowledge or stored models.
To recover shape descriptions, we use bi-quadric models for surface representation and superquadric models for object-centered volumetric representation. The surface segmentation uses a novel approach of searching for the best piecewise description of the image in terms of bi-quadric (z = f(x,y)) models. It is used to generate the region adjacency graphs, to localize surface discontinuities, and to derive global shape properties of the surfaces. A superquadric model is recovered for the entire data set and residuals are computed to evaluate the fit. The goodness-of-fit value based on the inside-outside function, and the mean-squared distance of data from the model provide quantitative evaluation of the model. The qualitative evaluation criteria check the local consistency of the model in the form of residual maps of overestimated and underestimated data regions.
The control structure invokes the models in a systematic manner, evaluates the intermediate descriptions, and integrates them to achieve final segmentation. Superquadric and bi-quadric models are recovered in parallel to incorporate the best of the coarse-to-fine and fine-to-coarse segmentation strategies. The model evaluation criteria determine the dimensionality of the scene, and decide whether to terminate the procedure, or selectively refine the segmentation by following a global-to-local part segmentation approach. The control module generates hypotheses about superquadric models at clusters of underestimated data and performs controlled extrapolation of the part-model by shrinking the global model. As the global model shrinks and the local models grow, they are evaluated and tested for termination or further segmentation.
We present results on real range images of scenes of varying complexity, including objects with occluding parts, and scenes where surface segmentation is not sufficient to guide the volumetric segmentation. We analyze the issue of segmentation of complex scenes thoroughly by studying the effect of missing data on volumetric model recovery, generating object-centered descriptions, and presenting a complete set of criteria for the evaluation of the superquadric models. We conclude by discussing the applications of our approach in data reduction, 3-D object recognition, geometric modeling, automatic model generation. object manipulation, and active vision
Sensory processing and world modeling for an active ranging device
In this project, we studied world modeling and sensory processing for laser range data. World Model data representation and operation were defined. Sensory processing algorithms for point processing and linear feature detection were designed and implemented. The interface between world modeling and sensory processing in the Servo and Primitive levels was investigated and implemented. In the primitive level, linear features detectors for edges were also implemented, analyzed and compared. The existing world model representations is surveyed. Also presented is the design and implementation of the Y-frame model, a hierarchical world model. The interfaces between the world model module and the sensory processing module are discussed as well as the linear feature detectors that were designed and implemented
Doctor of Philosophy
dissertationMany algorithms have been developed for synthesizing shaded images of three dimensional objects modeled by computer. In spite of widely differing approaches the current state of the art algorithms are surprisingly similar with respect to the richness of the scenes they can process. One attribute these algorithms have in common is the use of a conventional passive data base to represent the objects being modeled. This paper postulates and explores the use of an alternative modeling technique which uses procedures to represent the objects being modeled. The properties and structure of such "procedure models" are investigated and an algorithm based on them is presented
From surfaces to objects : Recognizing objects using surface information and object models.
This thesis describes research on recognizing partially obscured objects using
surface information like Marr's 2D sketch ([MAR82]) and surface-based geometrical
object models. The goal of the recognition process is to produce a fully
instantiated object hypotheses, with either image evidence for each feature or
explanations for their absence, in terms of self or external occlusion.
The central point of the thesis is that using surface information should be
an important part of the image understanding process. This is because surfaces
are the features that directly link perception to the objects perceived (for
normal "camera-like" sensing) and because surfaces make explicit information
needed to understand and cope with some visual problems (e.g. obscured features).
Further, because surfaces are both the data and model primitive, detailed
recognition can be made both simpler and more complete.
Recognition input is a surface image, which represents surface orientation and
absolute depth. Segmentation criteria are proposed for forming surface patches
with constant curvature character, based on surface shape discontinuities which
become labeled segmentation- boundaries.
Partially obscured object surfaces are reconstructed using stronger surface based
constraints. Surfaces are grouped to form surface clusters, which are 3D
identity-independent solids that often correspond to model primitives. These are
used here as a context within which to select models and find all object features.
True three-dimensional properties of image boundaries, surfaces and surface
clusters are directly estimated using the surface data.
Models are invoked using a network formulation, where individual nodes
represent potential identities for image structures. The links between nodes are
defined by generic and structural relationships. They define indirect evidence relationships
for an identity. Direct evidence for the identities comes from the data
properties. A plausibility computation is defined according to the constraints inherent
in the evidence types. When a node acquires sufficient plausibility, the
model is invoked for the corresponding image structure.Objects are primarily represented using a surface-based geometrical model.
Assemblies are formed from subassemblies and surface primitives, which are
defined using surface shape and boundaries. Variable affixments between assemblies
allow flexibly connected objects.
The initial object reference frame is estimated from model-data surface relationships,
using correspondences suggested by invocation. With the reference
frame, back-facing, tangential, partially self-obscured, totally self-obscured and
fully visible image features are deduced. From these, the oriented model is used
for finding evidence for missing visible model features. IT no evidence is found,
the program attempts to find evidence to justify the features obscured by an unrelated
object. Structured objects are constructed using a hierarchical synthesis
process.
Fully completed hypotheses are verified using both existence and identity
constraints based on surface evidence.
Each of these processes is defined by its computational constraints and are
demonstrated on two test images. These test scenes are interesting because they
contain partially and fully obscured object features, a variety of surface and solid
types and flexibly connected objects. All modeled objects were fully identified
and analyzed to the level represented in their models and were also acceptably
spatially located.
Portions of this work have been reported elsewhere ([FIS83], [FIS85a], [FIS85b],
[FIS86]) by the author
Part Description and Segmentation Using Contour, Surface and Volumetric Primitives
The problem of part definition, description, and decomposition is central to the shape recognition systems. The Ultimate goal of segmenting range images into meaningful parts and objects has proved to be very difficult to realize, mainly due to the isolation of the segmentation problem from the issue of representation. We propose a paradigm for part description and segmentation by integration of contour, surface, and volumetric primitives. Unlike previous approaches, we have used geometric properties derived from both boundary-based (surface contours and occluding contours), and primitive-based (quadric patches and superquadric models) representations to define and recover part-whole relationships, without a priori knowledge about the objects or object domain. The object shape is described at three levels of complexity, each contributing to the overall shape. Our approach can be summarized as answering the following question : Given that we have all three different modules for extracting volume, surface and boundary properties, how should they be invoked, evaluated and integrated? Volume and boundary fitting, and surface description are performed in parallel to incorporate the best of the coarse to fine and fine to coarse segmentation strategy. The process involves feedback between the segmentor (the Control Module) and individual shape description modules. The control module evaluates the intermediate descriptions and formulates hypotheses about parts. Hypotheses are further tested by the segmentor and the descriptors. The descriptions thus obtained are independent of position, orientation, scale, domain and domain properties, and are based purely on geometric considerations. They are extremely useful for the high level domain dependent symbolic reasoning processes, which need not deal with tremendous amount of data, but only with a rich description of data in terms of primitives recovered at various levels of complexity
Hierarchically hyperbolic spaces I: curve complexes for cubical groups
In the context of CAT(0) cubical groups, we develop an analogue of the theory
of curve complexes and subsurface projections. The role of the subsurfaces is
played by a collection of convex subcomplexes called a \emph{factor system},
and the role of the curve graph is played by the \emph{contact graph}. There
are a number of close parallels between the contact graph and the curve graph,
including hyperbolicity, acylindricity of the action, the existence of
hierarchy paths, and a Masur--Minsky-style distance formula.
We then define a \emph{hierarchically hyperbolic space}; the class of such
spaces includes a wide class of cubical groups (including all virtually compact
special groups) as well as mapping class groups and Teichm\"{u}ller space with
any of the standard metrics. We deduce a number of results about these spaces,
all of which are new for cubical or mapping class groups, and most of which are
new for both. We show that the quasi-Lipschitz image from a ball in a nilpotent
Lie group into a hierarchically hyperbolic space lies close to a product of
hierarchy geodesics. We also prove a rank theorem for hierarchically hyperbolic
spaces; this generalizes results of Behrstock--Minsky, Eskin--Masur--Rafi,
Hamenst\"{a}dt, and Kleiner. We finally prove that each hierarchically
hyperbolic group admits an acylindrical action on a hyperbolic space. This
acylindricity result is new for cubical groups, in which case the hyperbolic
space admitting the action is the contact graph; in the case of the mapping
class group, this provides a new proof of a theorem of Bowditch.Comment: To appear in "Geometry and Topology". This version incorporates the
referee's comment
Paving the path towards automatic hexahedral mesh generation
Esta tesis versa sobre el desarrollo de las tecnologÃas para la generación de mallas de hexaedros. El proceso de generar una malla de hexaedros no es automático y su generación requiere varias horas te trabajo de un ingeniero especializado. Por lo tanto, es importante desarrollar herramientas que faciliten dicho proceso de generación. Con este fin, se presenta y desarrolla un método de proyección de mallas, una técnica de sweeping o barrido, un algoritmo para la obtención de mallas por bloques, y un entorno de generación de mallas. Las implementaciones más competitivas del método de sweeping utilizan técnicas de proyección de mallas basadas en métodos afines. Los métodos afines más habituales presentan varios problemas relacionados con la obtención de sistemas de ecuaciones normales de rango deficiente. Para solucionar dichos problemas se presenta y analiza un nuevo método afÃn que depende de dos parámetros vectoriales. Además, se detalla un procedimiento automático para la selección de dichos vectores. El método de proyección resultante preserva la forma de las mallas proyectadas. Esta proyección es incorporada también en una nueva herramienta de sweeping. Dicha herramienta genera capas de nodos internos que respetan la curvatura de las superficies inicial y final. La herramienta de sweeping es capaz de mallar geometrÃas de extrusión definidas por trayectorias curvas, secciones no constantes a lo largo del eje de sweeping, y superficies inicial y final con diferente forma y curvatura.En las últimas décadas se han propuesto varios ataques para la generación automática de mallas de hexahedros. Sin embargo, todavÃa no existe un algoritmo rápido y robusto que genere automáticamente mallas de hexaedros de alta calidad. Se propone un nuevo ataque para la generación de mallas por bloques mediante la representación de la geometrÃa y la topologÃa del dual de una malla de hexaedros. En dicho ataque, primero se genera una malla grosera de tetraedros. Después, varió polÃgonos planos se añaden al interior de los elementos de la malla grosera inicial. Dichos polÃgonos se denotan como contribuciones duales locales y representan una versión discreta del dual de una malla de hexaedros. En el último paso, la malla por bloques se obtiene como el dual de la representación del dual generada. El algoritmo de generación de mallas por bloques es aplicado a geometrÃas que presentan diferentes caracterÃsticas geométricas como son superficies planas, superficies curvas, configuraciones delgadas, agujeros, y vértices con valencia mayor que tres.Las mallas se generan habitualmente con la ayuda de entornos interactivos que integran una interfaz CAD y varios algoritmos de generación de mallas. Se presenta un nuevo entorno de generación de mallas especializado en la generación de cuadriláteros y hexaedros. Este entorno proporciona la tecnologÃa necesaria para implementar les técnicas de generación de mallas de hexaedros presentadas en esta tesis.This thesis deals with the development of hexahedral mesh generation technology. The process of generating hexahedral meshes is not fully automatic and it is a time consuming task. Therefore, it is important to develop tools that facilitate the generation of hexahedral meshes. To this end, a mesh projection method, a sweeping technique, a block-meshing algorithm, and an interactive mesh generation environment are presented and developed. Competitive implementations of the sweeping method use mesh projection techniques based on affine methods. Standard affine methods have several drawbacks related to the statement of rank deficient sets of normal equations. To overcome these drawbacks a new affine method that depends on two vector parameters is presented and analyzed. Moreover, an automatic procedure that selects these two vector parameters is detailed. The resulting projection procedure preserves the shape of projected meshes. Then, this procedure is incorporated in a new sweeping tool. This tool generates inner layers of nodes that preserve the curvature of the cap surfaces. The sweeping tool is able to mesh extrusion geometries defined by non-linear sweeping trajectories, non-constant cross sections along the sweep axis, non-parallel cap surfaces, and cap surfaces with different shape and curvature. In the last decades, several general-purpose approaches to generate automatically hexahedral meshes have been proposed. However, a fast and robust algorithm that automatically generates high-quality hexahedral meshes is not available. A novel approach for block meshing by representing the geometry and the topology of a hexahedral mesh is presented. The block-meshing algorithm first generates an initial coarse mesh of tetrahedral elements. Second, several planar polygons are added inside the elements of the initial coarse mesh. These polygons are referred as local dual contributions and represent a discrete version of the dual of a hexahedral mesh. Finally, the dual representation is dualized to obtain the final block mesh. The block-meshing algorithm is applied to mesh geometries that present different geometrical characteristics such as planar surfaces, curved surfaces, thin configurations, holes, and vertices with valence greater than three.Meshes are usually generated with the help of interactive environments that integrate a CAD interface and several meshing algorithms. An overview of a new mesh generation environment focused in quadrilateral and hexahedral mesh generation is presented. This environment provides the technology required to implement the hexahedral meshing techniques presented in this thesis.Postprint (published version
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