Development of the Aspect Graph Representation for Use in Robot Vision

Over the past few years, a number of researchers have presented algorithms for computing the aspect graph representation for polyhedra and curved-surface objects. However, currently it is computer from the theoretical standpoint of perfect resolution in the viewpoint, the projected image and the object shape. This means that the aspect graph may include details that an observe could never see in practice. This paper reviews a complete implementation of an algorithm to compute the exact aspect graph of solids of revolution under the perspective projection in 3D space. The we explore the notion of introducing scale into the qualitative aspect graph framework, this providing a mechanism for selecting a level of detail that is large enough to merit explicit representation. Several alternative interpretations of the scale space aspect graph are examined in response to the results produced for an example object by the implemented system.