Segmentation and Recovery of Superquadrics

A representation of objects by their parts is the dominant strategy for representing complex 3D objects in many disciplines. In computer vision and robotics, superquadrics are among the most widespread part models. Superquadrics are a family of parametric models that cover a wide variety of smoothly changing 3D symmetric shapes, which are controlled with a small number of parameters and which can be augmented with the addition of global and local deformations. The book covers, in depth, the geometric properties of superquadrics. The main contribution of the book is an original approach to the recovery and segmentation of superquadrics from range images. Several applications of superquadrics in computer vision and robotics are thoroughly discussed and, in particular, the use of superquadrics for range image registration is demonstrated.
Audience: The book is intended for readers of all levels who are familiar with and interested in computer vision issues.

1. Introduction.- 2. Superquadrics and Their Geometric Properties.- 3. Extensions of Superquadrics.- 4. Recovery of Individual Superquadrics.- 5. Segmentation with Superquadrics.- 6. Experimental Results.- 7. Applications of Superquadrics.- 8. Conclusions.- Appendices.- B— Superquadric Recovery Code.- C— Range Image Acquisition.- D— Minimum Description Length and Maximum A Posteriori Probability.- E— Object-Oriented Framework for Segmentation (Segmentor).- References.- Author Index.- Topic Index.