### Abstract

This paper presents a fast method for computing a bounding volume within which an observed object must lie from the observed motion of the occluding contour during a straight-line motion of the camera. The bounding volume is represented as a set of planar cross sections each consisting of multiple convex polygons within which the object lies. The algorithm's worst-case runtime performance is O(nmk) operations, where n is the number of viewpoints used, m is the number of polygons created during the execution of the algorithm, and k is a parameter dependent on the geometric complexity of the object being viewed. Experimental examples are demonstrated; bounding polygon computation from sampled contours in 20 images required less than one second on a 50 Mhz i486 CPU.

Original language | English (US) |
---|---|

Pages (from-to) | 1934-1941 |

Number of pages | 8 |

Journal | Proceedings - IEEE International Conference on Robotics and Automation |

Volume | 3 |

State | Published - Jan 1 1999 |

Externally published | Yes |

Event | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: May 10 1999 → May 15 1999 |

### ASJC Scopus subject areas

- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering

## Fingerprint Dive into the research topics of 'Fast 3D boundary computation from occluding contour motion'. Together they form a unique fingerprint.

## Cite this

*Proceedings - IEEE International Conference on Robotics and Automation*,

*3*, 1934-1941.