Fast 3D boundary computation from occluding contour motion

A. Bendiksen, G. D. Hager

Research output: Contribution to journalConference articlepeer-review


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 languageEnglish (US)
Pages (from-to)1934-1941
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

ASJC Scopus subject areas

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


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