无序点云的B曲线拟合

step 1
主元素分析法PCA初始化B样条曲面
step 2
拟合B样条曲面
step 3
循环初始化B样条曲线
step 4
拟合B样条曲线
step 5
三角化B样条曲面

Gestalt principles
Monte Carlo particle filter (MCPF)蒙特卡洛粒子滤波
tracking-state-detection(TSD)This allows to learn or extend a
probabilistic motion model.

一些符号约定

$S$ ——savings of a surface model hypothesis
$κ _{0,1,2}$ ——MDL weights
$Ξ$ —— knot vector
$ξ i$ ——element of the knot vector
$ξ$ —— parameter of a B-spline curve
$u, v$ —— parameters of a B-spline surface
$Ω$ ——parameter space of a B-spline curve or surface
$N _{i,p}$——i-th B-spline basis function of p-th order
$M_{j,p}$——j-th B-spline basis function of p-th order
$c$ ——B-spline curve
$b$——control vector
$S$——B-spline surface
$B$——control grid
$p$——point
$n$——normal vector
$t$——tangent vector
$o$——outward pointing normal vector
$e$——error function
$f$——objective function
$w$——weighting factor or -function
$d$——signed distance to B-spline curve
$ρ$——curvature of the B-spline curve
$σ$——standard deviation or transition width
$ε$——threshold
$f$——force vector
$K$——stiffness matrix
$R$——regularisation matrix
$t$——time steps $t \in N \cup \left \{ 0 \right \}$
$I$——colour image
$T$——rigid transformation (rotation, translation)
$t$——translation
$R$——rotation (matrix form)
$i, j, k$——imaginary units
$q$——quaternion
$r$——real value of quaternion
$θ_{x,y,z}$——imaginary value of quaternion
$θ$——vector of imaginary values of quaternion, i.e. rotation
$x$——state vector of a particle
$\tilde{x}$——posterior particle
$N$——normal distributed noise
$σ$——standard deviation
$c$——confidence
$p$——probability
$P$——discrete probability
$i$——particle index
$N$——number of particles
$w$——importance weight
$y$——observation
$g$——colour gradient
$M$——object model projected to image space
$m$——match value
$s$——normalizing factor
$h$——hue value of the HSV colour space
$δ(x)$——delta-Dirac mass located in x
$u, v$——pixel coordinates in image space
$X^{f}_{t}$——set of fixed particles
$o$——detection success
$q_{k}$——fixed point on the object surface
$e$——tracking error
$A, B, O$——coordinate frames

第一章 介绍

认知机器人的子任务：
• Knowledge representation: Represent knowledge that allows for extension and
modification over time.
• Reasoning: Reason about the world using and updating the current knowledge.
• Autonomous robot: Integrate knowledge about the embodiment of the robot
and consider its possibilities.
• Dynamic world: Detect and observe changes in the environment as well as in
the present state of knowledge.
• Incomplete world: Identify knowledge gaps, i.e. missing information.

1.1Problem statement: modelling objects

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建模的要求：
shape
colour颜色对环境光照比较敏感，但是颜色的梯度信息A strong cue is provided by the gradients of a colour image
since colour itself strongly depends on the lighting conditions. A more suitable way is to use histograms of colour and gradients of image patches.

一个更合适的方法是使用颜色和图像块的梯度直方图。 SIFT和SURF
Physical behaviour

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系统的抓取在模型建立不完全的时候也能工作。这就暗示了模型的建立不能是一步一步的，而应该是平行建立的。

第二章 分割与重建

收敛的时候使某些距离最小。
point distance（PD）
tangent distance（TD）
squared distance （SD）