Differential Geometry

Computer Vision #8
Differential Geometry
1. Curvature of curve
2. Curvature of surface
3. Application of curvature
Parameterization of Curve
1. curve - s arc length
a(s) = ( x(s), y(s) )

2. tangent of a curve
a(s) = ( x(s), y(s) )

3. curvature of a curve
a(s) = ( x(s), y(s) )
|a(s)| -- curvature
s
a(s)
s s a A ) ( '
) ( s s a A + ) (s a
) ( ' s s a A +
) ( ' s a
) ( ' s a
s s a A ) ( "
) ( ' s s a A +
Example (Circle)
1. Arc length, s

2. coordinates


3. tangent

4. curvature
u r s =
( ) ( )
r
s
r r y
r
s
r r x sin sin cos cos = = = = u u
( ) ( ) ( ) ( ) ( ) ( ) ( )
r
s
r
r
s
r s y s x s a sin , cos , = =
( ) ( ) ( ) ( )
r
s
r
s
s a cos , sin ' =
( ) ( ) ( ) ( ) ( ) s a r r r s r r s s a
2
1 sin , cos " = =
( )
r
s a
1
" =
x
u r s =
y
u
( ) s a'
( ) s a
S
Definition of Curvature
The normal direction (n) toward the empty side.
( ) ( ) ( ) s n s k s a = "
( ) ( ) 1 =
'

'
s a s a ( ) ( ) 0 =
'

' '
s a s a
( ) s k
: Curvature
Corner Model and Its Signatures
b
a
c
d
s=0
a b c
a
b c d a
arc length
d
a b
c
s=0
s=0
Gaussian Filter and Scale Space
a
a b
c d
e
a
b
c
d
e
f
g
h
i j
k
+
+
+
Curvature Scale Space Descriptor
Curvature of Surfaces
normal section
k k cos
n
=
non-normal section

u k u k u k
2
2
2
1
sin cos ) ( + =
n
u
1
e
2
e
normal curvature
Principal directions and principal curvatures
Principal Curvatures
plane: all directions
sphere: all directions
cylinder:
ellipsoid:
hyperboloid:
0
2 1
= = K K
0
2 1
< = K K
0 0
2 1
= < K K
0 0
2 1
< < K K
0 0
2 1
> < K K
Gaussian Curvature and Mean Curvature
K K K = =
2 1
curvature Gaussian
H
K K
=
+
=
2
curvature Mean
2 1
0
0
2
1
=
=
K
K
0
0
2
1
<
<
K
K
0
0
2
1
=
<
K
K
0
0
2
1
<
<
K
K
0
0
2
1
>
<
K
K
0
0
=
=
H
K
0
0
<
>
H
K
0
0
<
=
H
K
0
0
<
>
H
K
( ) ?
0
H
K <
Parabolic points
0 = K
Parabolic point
0 > K elliptic point
0 < K hyperbolic point
F.Klein used the parabolic curves for
a peculiar investigation. To test his hypothesis
that the artistic beauty of a face was based on
certain mathematical relation, he has all the
parabolic curves marked out on the
Apollo Belvidere. But the curves did not possess
a particularly simpler form, nor did they follow
any general law that could be discerned.
Other Feature Points & Edges
Edges: maxima of curvatures
Zero-crossing of Gaussian/mean curvature
Ridges and valleys
Umbilic point: principle curvatures are the
same
Lines of Curvature
Principal directions, which
gives the maximum and the minimal
normal curvature.
Principal direction
curves along principal directions
PD
PD
PD
Lines of Curvature
Curvature Primal Sketches along
Lines of Curvature
Important Formula
1. Surface

2. surface normal


3. the first fundamental form

4. the second fundamental form
( ) ( ) ( ) ( ) ( )
( ) ( ) y x z y x
v u z v u y v u x v u X
, , ,
, , , , , ,
=
=
( )
v u
v u
X X
X X
v u N

= ,
v v v u u u
X X G X X F X X E = = =
v v vv
v u u v uv
u u uu
X N X N g
X N X N X N f
X N X N e
= =
= = =
= =
u
X
v
X
N
( ) ( )
2
2
2
2
0
2 2
2
2
1
curvature Mean
curvature Gaussian
area
2 length arc
F EG
gE fF eG
F EG
f eg
dudv F EG
dv G Fdudv du E
S

+
=

=
=
+ + =
}}
}
O
Important formula (2)
Y
Z
X
u

( ) ( ) ( ) ( ) ( )
( ) u u u
u u u u
cos , sin sin , cos sin
, , , , , ,
r r r
Z Y X X
=
=
( )
( ) 0 , cos sin , sin sin
sin , sin cos , cos cos
u u
u u u

u
r r X
r r r X
=
=
u
u u
u u u u
u u
u u u

u
u u
2 2
2 2 2 2 2 2
2 2
2 2 2 2 2
2 2 2 2 2 2 2 2
sin
cos sin sin sin
0
cos sin cos sin cos sin cos sin
sin cos
sin sin cos cos cos
r
r r X X G
r r X X F
r r r
r r r X X E
=
+ = =
=
+ = =
= + =
+ + = =
Example (sphere)
u
u
X X
X X
N

=
( ) ( ) ( ) ( ) { } k j i r
r r
r r r
k j i
X X
u u u u
u u
u u u
u
cos sin sin cos sin sin
0 cos sin sin sin
sin sin cos cos cos
2
+ + =
|
|
|
.
|

\
|

=
( ) u u u cos , sin sin , cos sin = N
( )
( )
( ) 0 , sin sin , cos sin
0 , cos cos , sin cos
cos , sin sin , cos sin
u u
u u
u u u

u
uu
r r X
r r X
r r r X
=
=
=
u u u
u u u u
u u u

u
uu
2 2 2 2 2
2 2 2 2 2
sin sin sin cos sin
0 cos sin cos sin cos sin cos sin
cos sin sin cos sin
r r r X N g
r r X N f
r r r r X N e
= = =
= + = =
= = =
( ) ( )
( ) ( )
( ) ( ) ( ) u u u u
u
u u
u u
d r rd d d r
d d F EG
d r d r
d G d Fd d E
sin sin
area
sin
2 lenght arc
2
2
2
2 2
2
2
2 2
= =
=
+ =
+ + =
}} }}
}}
}
}
u rd
( ) u d r sin
| | | |
2 2
2
0 0
2
2
0 0
2
4 ) 0 2 ))( 1 ( 1 (
cos
sin all_area
r r
r
d d r
t t
u
u u
t t
t t
= =
=
=
} }
( )
( ) ( )
)
`

|
.
|

\
|
+
|
.
|

\
|
= =

+
=
|
.
|

\
|

|
.
|

\
|
= = =

=
r r r r
r
F EG
gE fF eG
r r r r
r
F EG
f eg
1 1
2
1 1
sin 2
sin 2 1
2
2 1
MC
1 1 1
sin
sin
GC
2 4
2 3
2
2 2 4
2 2
2
2
u
u
u
u
|
.
|

\
|

r
1
Estimate Normal & Curvatures
of Polygon Mesh Model
Normal
Weighted average of normals of the adjacent faces
Fit plane

Curvature
Fit algebraic surface
Fit circles &
Curvature Tensor
k k cos
n
=
( )
2 1
sin cos ) (
2
1
e e t tt t u u u k
t
t
t
+ = =
}

d M
T
n
( ) M m m m m m of e eigen valu : 3 , 3
* 1 2 2 2 1 1
= = k k
Estimate Normal & Curvatures of Point Cloud
- Tensor Voting -
Each point has its estimated normal which
is represented by the eigensystem
Estimate Normal using Tensor Voting
Voting
Estimate normal from positions of receiver and
voter and estimated normal of voter
T
P O P O
w

n n
Normal tensor vote
P O
n
P
n
p
O
Estimate Curvature using Tensor Voting
Estimate surface
Point on the unknown surface gets maximum
saliency
RadiusHit
( )
2 1
sin cos ) (
2
1
e e t tt t u u u k
t
t
t
+ = =
}

d M
T
n
Estimate curvature tensor
Summary
1. curvature of curve

2. curvature of surface
Gaussian curvature
mean curvature

Surface Description #2
(Extended Gaussian Image)
Topics
1.Gauss map
2.Extended Gaussian Image
3.Application of EGI
Gauss map
Let S

R
3
be a surface with an orientation N.
The map N: SR
3
takes its values in the unit sphere
The map N: SS
2
is called the Gauss map.
1D
gauss map
gauss map 2D
( ) ( ) { } z y x N z y x R z y x S , , , 1 ; , ,
2 2 2 3 2
= = + + e =
Extended Gaussian Image (EGI)
Distribution of normals represented in the
spherical coordinates
A weight is expressed the area of the surface
having the given normal
Characteristics of EGI
EGI is the necessary and the sufficient condition for
the congruence of two convex polyhedra.

Ratio between the area on the Gaussian sphere and
the area on the object is equal to Gaussian curvature.

EGI mass on the sphere is the inverse of Gaussian
curvature.

Mass center of EGI is at the origin of the sphere

An object rotates, then EGI of the object also rotates.
However, both rotations are same.
Relationship between EGI and
Gaussian Curvature
object
Gaussian sphere
large
small
small
large
(K: small)
(K: large)
O
S
K
O
o
o
o 0
lim

=
O
S
o
o
= small
O
S
o
o
= large
O o
O o
S o
S o
Gaussian Curvature and EGI Maps
Since and exist on the tangential plane at ,
we can represent them by a linear combination of and
dudv X X
dv X du X O
v u
v u


=
= o
dudv N N
dv N du N S
v u
v u


=
= o
v u v
v u u
X a X a N
X a X a N


22 12
21 11
+ =
+ =
|
.
|

\
|
=

=
22 12
21 11
det
a a
a a
X X
N N
O
S
v u
v u


o
o
u
N

v
N

u
X

v
X

dv N N
v

+
du N N
u

+
N

v
u
du X
u

dv X
v

du
dv
du N
u

dv N
v

|
.
|

\
|
|
.
|

\
|
=
|
.
|

\
|


G F
F E
a a
a a
g f
f e
22 12
21 11
F a E a e
X X a X X a X N
v v u u u u
21 11
21 11
+ =
- + - = -

F a E a f
X X a X X a X N
u v v u u v
22 12
22 12
+ =
- + - = -

G a F a f
X X a X X a X N
v v v u v u
21 11
21 11
+ =
- + - = -

G a F a g
X X a X X a X N
v v v u v v
22 12
22 12
+ =
- + - = -

k
F EG
f eg
a a
a a
O
S
=

=
|
.
|

\
|
=
2
2
22 12
21 11
det
o
o
k
1
map
mass
=
=
EGI
EGI
S
O
o
o
Implementation of EGI
Tessellation of the unit sphere
All cells should have the same area
have the same shape
occur in a regular pattern
geodesic dome based on a regular polyhedron
semi-regular geodesic dome
Example of EGI
Cylinder Ellipsoid
side view
top view
Determination of Attitude using EGI
viewing
direction
EGI table
10 20 0
0
0 8
8 5
5
The Complex EGI(CEGI)
Normal distance and area of a 3-D object are encoded
as a complex weight. Pn
k
associated with the
surface normal n
k
such that:
k
H
k
n
k
A
n
k
d
k
k k
jd
e A P
n n
=
0
(note: The weight is shown only for normal n1 for clearly.)
The complex EGI(CEGI)
1
n
6
n
3
n
2
n
5
n
4
n
2
n
5
n
4
n
1
n
6
n
3
n
1
d
1
A
1
1
jd
e A
Gauss mapping
Origin
(a) Cube
(b) CEGI of cube
Bin Picking System based on EGI
Photometric stereo

segmentation

Region selection

Photometric stereo

EGI generation

EGI matching

Grasp planning
Needle map

isolated regions

target region

precise needle map

EGI

object attitude
Lookup table for photometric stereo
Hand-eye calibration
Calibration
Photometric Stereo Set-up
Bin-Picking System
Summary
1. Gauss map
2. Extended Gaussian Image
3. Characteristics of EGI
congruence of two convex polyhedra
EGI mass is the inverse of Gaussian curvature
mass center of EGI is at the origin of the sphere
4. Implementation of EGI
Tessellation of the unit sphere
Recognition using EGI
5. Complex EGI
6. Bin-picking system based on EGI
7. Read Horn pp.365-39 pp.423-451