Recovery of Individual Superquadrics

Abstract

One of the criteria for selection of geometric primitives in computer vision is their accessibility (Brady, 1983) . Accessibility, which can also be defined as computability of the primitive, is essential since the goal of computer vision is to recover structure from images. This requirement not only constrains the choice of the primitives but imposes certain conditions on the model-recovery procedure as well. For example, the primitives should have local support, so that they can cope with occlusions and self-occlusions. Besides, primitives should balance, according to the requirements of the task, the trade-off between data reduction and faithfulness to measured data. All model based approaches are restricted in the sense that they cannot model everything present in the input data. They should, however, model reliably those structures in the image that are essential for a given task. It is also important that the recovery method signals when the models are inadequate to describe the data, so that a different type of model can be invoked.