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1 6 6.1 S - R a g e n t (computer vision) I ( x, y, t ) x y t a g e n t 6-1 a g e n t 6-1 a g e n t a g e n t

2 54 a g e n t a g e n a g e n t a g e n t 6.2 S-R agent A LV I N N[Pomerleau 1991, Pomerleau 1993] ALV I N N 5 30 s i g m o i d o n - t h e - f l y 30

3 A LV I N N A LV I N N A LV I N N a g e n t a g e n t [Nalwa 1993, p.77]

4 56 A B C 6-5 ((C B A F L O O R) ) C B B A, A C ((C FLOOR)(B A FLOOR) ) ((B A FLOOR) (C FLOOR) F L O O R C C L E A R _ C C 1 0 i m n I(x,y) (image intensity a rr a y) ( p i x e l ) (c o n v o l u t i o n) 1 0 c r i s p n e s s s(t) w(t) s

5 6 57 I(x,y) W(u,v) I(x,y) = 0 x< 0 x n y< 0 y m W(x,y) x y G a u s s i a n 6-7 x y G(x,y) x y I(x,y) Koenderink[Koenderink 1984] σ σ

6 I(x,y) x y x 6-9 y 6-9 x d I/d x d I/d x d 2 I/d x 2 = 0

7 σ I(x) d 2 G(x) /d x 2 I(x,y)

8 s o m b re ro 6-11 S o m b r e r o (l a p l a c i a n f i l t e r i n g) 0 0 M a r r- H i l d r e t h [Marr & Hildreth 1980 ] M a r r- H i d r e t h M a r r 6-12 M a r r- H i l l d r e t h 6-12 M a r r- H i l d r e t h 1 -

9 6 61 C a n n y [Canny 1986]S o b e l Irwin Sobel [Pingle 1969]H u e c k e l [Hueckel 1973] N a l w a - B i n f o r d [Nalwa & Binford 1986] M a r r- H i l d r e t h d u a l 1) homogeneity pro p e rt y (a) (b) k k 2) (s p l i t - a n d - m e rg e) [Horowitz & Pavlidis 1976] 2 l 2 l

10 P e r o n a Malik[Perona & Malik 1990] [Nalwa 1993, p. 96] t e x e l s [Ballard & Brown 1982, 6 ] Z h u [Zhu, Wu, & Mumford 1998]

11 (scene analysis) H o r n [Horn 1986] q u a l i t a t i v e - d e p t h (t a s k - o r i e n t e d) (p u r p o s i v e) ( [Ballard 1991,Aloimonos 1993]) [Nalwa & Pauchon ] (line drawing) (i n t e r p re t i n g) (trihedral vert e x p o l y h e d r a) 6-15 o c c l u d e 6-15 o c c l u d e

12 64 b l a d e f o l d V W Y T 6-16 [ H u ffman 1971] V W Y T

13 [Guzman 1986, Huffman 1971, Clowes ] [ Waltz 1975] 6-17 [Nalwa 1993, 4 ] f o l d ( ) b l a d e [Binford 1982, Grimson 1990, Shirai 1987] 6-15 generalized cylinder [Binford 1987] N a l w a [Nalwa 1993, p. 293] [Brooks 1981] [Ballard & Brown 1982, 9 ]

14 (s t e reo vision) 6-20 α (b a s e l i n e)b d

15 6 67 d 6-21 ( ) 6-21 c o rrespondence pro b l e m epipolar line [Nalwa 1993, 7 ] 6.7 A LV I N N [Thorpe, et al. 1992][Herbert, et al. 1997]

16 68 [Horswill 1993] [Churchland, Ramachandran, & Sejnowski 1994] [Gibson 1950, Gibson 1979] [Julesz 1971] [Marr & Poggio 1997] [Letvinn, et al. 1959] [Hubel & Wiesel 1968] (lateral inhibition) [Reichardt 1965] [Marr 1982, Hubel 1988] [Bhanu & Lee 1994] I C C V E C C V C V P R nternational Journal of Computer Vi s i o n [Nalwa 1993, Horn 1986, Ballard & Brown 1982, Jain, Kasturi, & Schunck 1995, Faugeras 1993] [Fischler & Firschein 1987] [Gregory 1996] I(x) W(x) I(x) W(x)

17 Roberts cross I(x y) I (x, y) I (x,y) I(x,y) P e n r o s e

第三节防疫

第三节防疫 192 1978 3353 34 3 1979 30 24 30 1980 10 1980-1981 1 2 2734 13 65 2 0 n 55 1 5-1 0 73 71 1 0 14 74 1981 3 13 5696 2342 167 69 1 1146 665 58 03 1983 4 2 510 100 1984 7 7n 3421 2200 1985 12 2636 30 1941