17,811 research outputs found
Imagining circles: empirical data and a perceptual model for the arc-size illusion
An essential part of visual object recognition is the evaluation of the curvature of both an object's outline as well as the contours on its surface. We studied a striking illusion of visual curvature--the arc-size illusion (ASI)--to gain insight into the visual coding of curvature. In the ASI, short arcs are perceived as flatter (less curved) compared to longer arcs of the same radius. We investigated if and how the ASI depends on (i) the physical size of the stimulus and (ii) on the length of the arc. Our results show that perceived curvature monotonically increases with arc length up to an arc angle of about 60°, thereafter remaining constant and equal to the perceived curvature of a full circle. We investigated if the misjudgment of curvature in the ASI translates into predictable biases for three other perceptual tasks: (i) judging the position of the centre of circular arcs; (ii) judging if two circular arcs fall on the circumference of the same (invisible) circle and (iii) interpolating the position of a point on the circumference of a circle defined by two circular arcs. We found that the biases in all the above tasks were reliably predicted by the same bias mediating the ASI. We present a simple model, based on the central angle subtended by an arc, that captures the data for all tasks. Importantly, we argue that the ASI and related biases are a consequence of the fact that an object's curvature is perceived as constant with viewing distance, in other words is perceptually scale invariant
Airborne mapping of complex obstacles using 2D Splinegon
This paper describes a recently proposed algorithm in mapping the unknown
obstacle in a stationary environment where the obstacles are represented as
curved in nature. The focus is to achieve a guaranteed performance of sensor
based navigation and mapping. The guaranteed performance is quantified by
explicit bounds of the position estimate of an autonomous aerial vehicle using
an extended Kalman filter and to track the obstacle so as to extract the map of
the obstacle. This Dubins path planning algorithm is used to provide a flyable
and safe path to the vehicle to fly from one location to another. This
description takes into account the fact that the vehicle is made to fly around
the obstacle and hence will map the shape of the obstacle using the 2D-Splinegon
technique. This splinegon technique, the most efficient and a robust way to
estimate the boundary of a curved nature obstacles, can provide mathematically
provable performance guarantees that are achievable in practice
3D Geometric Analysis of Tubular Objects based on Surface Normal Accumulation
This paper proposes a simple and efficient method for the reconstruction and
extraction of geometric parameters from 3D tubular objects. Our method
constructs an image that accumulates surface normal information, then peaks
within this image are located by tracking. Finally, the positions of these are
optimized to lie precisely on the tubular shape centerline. This method is very
versatile, and is able to process various input data types like full or partial
mesh acquired from 3D laser scans, 3D height map or discrete volumetric images.
The proposed algorithm is simple to implement, contains few parameters and can
be computed in linear time with respect to the number of surface faces. Since
the extracted tube centerline is accurate, we are able to decompose the tube
into rectilinear parts and torus-like parts. This is done with a new linear
time 3D torus detection algorithm, which follows the same principle of a
previous work on 2D arc circle recognition. Detailed experiments show the
versatility, accuracy and robustness of our new method.Comment: in 18th International Conference on Image Analysis and Processing,
Sep 2015, Genova, Italy. 201
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