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Table of Contents

Partial Shape Similarity

0. Motivation
1. Edge Detection
2. Edge Grouping
3. Extraction of Contour Parts
4. Recognizing Shapes by Parts
5. Results

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Structural Shape Similarity

0. Introduction
1. Shape Segmentation
2. Skeleton Computation
3. Skeleton Pruning
4. Recognizing Shapes by Structures

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Contour Grouping Based on Local Symetry

0. Introduction
1. From Edges To Contours
2. Center points
3. Reference Shape Model
4. Particle Filter
5.1. Experimental Result 1
5.2. Experimental Result 2
5.3. Experimental Result 3
5.4. Experimental Result 4
5.5. Experimental Result 5
5.6. Experimental Result 6
5.7. Experimental Result 7
5.8. Experimental Result 8
6. Conclusion
7. Contour Grouping Video

Particle Filter

Probabilistic map/contour acquisition

• Map acquisition problem is called SLAM in robotics community.
• Any solution to that problem has to deal with uncertainties in sensor information.
• Rao-Blackwellized particle filtering has been successfully applied for the problem in practice.
• Hence we adopt that approach for contour grouping.

Formal definition of the problem

• We estimate the posterior:
  
• Where:
  • is the trajectory of the robot.
  • is the contour grouped.
  • is the sequence of observations.
  • is the sequence of motion control.

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