Differential Geometry

Computer Vision #5
 Differential Geometry

1. Curvature of curve
2. Curvature of surface
3. Application of curvature
 Parameterization of curve
1. curve -- s arc length s
a(s) = ( x(s), y(s) )
a(s)
2. tangent of a curve
a’(s) = ( x’(s), y’(s) ) a ' ( s )  s

a ( s  s ) a (s )
3. curvature of a curve
a”(s) = ( x”(s), y”(s) )
|a”(s)| -- curvature a ' ( s  s ) a' (s)
a" ( s )  s
a' ( s)
a ' ( s  s )
 Example (circle)
y
1. Arc length, s
s  r s  r
2. coordinates  x
x  r cos  r cos s  r  y  r sin   r sin s r 
a s   xs , y s   r coss , r sin s 
r r
3. tangent
    
a ' s    sin s , cos s
r r a' s 
a s 
4. curvature
S

a" s    cos s r  r , sin s r  r    1 r 2 a s 

a" s   1
r
 Definition of curvature
The normal direction (n) toward the empty side.

a" s   k s ns 
Corner model and its signatures
s=0
a
b
b c d a
a arc length
d
c

b a a b c
s=0
c d

s=0
Gaussian filter and scale space
+ a

a b e
+ c d

b f h k
+ d
a c e g i j
 Curvature of surfaces

normal section non-normal section

normal curvature
Principal directions and principal curvatures
Principal curvatures
plane: all directions
K1  K2  0
sphere: all directions

K1  K2  0
cylinder:

K1  0 K2  0
ellipsoid:
K1  0 K2  0
hyperboloid:
K1  0 K2  0
Gaussian curvature and mean curvature
Gaussian curvature  K1 K 2  K
K1  K 2
Mean curvature  H
2
K1  0 K 0
K2  0 H 0

K1  0 K 0
K2  0 H 0

K1  0 K 0
K2  0 H 0

K1  0 K 0
K2  0 H 0

K1  0 K 0
K2  0 H ?
 Parabolic points
K 0 Parabolic point
K 0 elliptic point

K 0 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.
 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 X u , v   x u , v , y u , v , z u , v  N
Xv
 x, y, z x, y 
Xu
2. surface normal
Xu  Xv
N u , v  
Xu  Xv

3. the first fundamental form

E  Xu  Xu F  Xu  Xv G  Xv  Xv
4. the second fundamental form
e  N  X uu   N u  X u
f  N  X uv   N v  X u   N u  X v
g  N  X vv   N v  X v
 S
E du   2 Fdudv  G dv 
2 2
arc length  
0

area   EG  F 2 dudv

2
eg  f
Gaussian curvature  2
EG  F
1 eG  2 fF  gE
Mean curvature  2
2 EG  F
 Z
X  ,    X  ,  , Y  ,  , Z  ,  

 r sin  cos  , r sin  sin  , r cos 
Y


X X   r cos cos  , r cos sin  , r sin  

X    r sin  sin  , r sin  cos  ,0 

E  X   X   r 2 cos 2  cos 2   r 2 cos 2  sin 2   r 2 sin 2 

 r 2 cos 2   r 2 sin 2   r 2
F  X   X    r 2 sin  cos sin  cos   r 2 sin  cos sin  cos 
0
G  X   X   r 2 sin 2  sin 2   r 2 sin 2  cos 2 
 r 2 sin 2 
 X  X 
N
X  X 

 i j k 
 
X   X    r cos cos  r cos sin   r sin  
  r sin  sin  r sin  cos  0 

 
 r 2 sin  sin  cos  i  sin  sin   j  cos k 

N  sin  cos  , sin  sin  , cos 

X    r sin  cos  ,r sin  sin  , r cos  
X    r cos  sin  , r cos  cos  ,0
X    r sin  cos  , r sin  sin  ,0 
e  N  X    r sin 2  cos 2   r sin 2  sin 2   r cos 2    r
f  N  X    r sin  cos  sin  cos   r sin  cos sin  cos   0
g  N  X    r sin 2  cos 2   r sin 2  sin 2    r sin 2 
arc lenght   E d   2 Fdd  G d 
2 2 rd

  r 2 d   r 2 sin 2  d 

2 2

r sin  d
area   EG  F dd 2

  r 2 sin  dd   rd  r sin  d

eg  f 2 r 2 sin 2  1  1  1 
GC  2
 4 2  2      
EG  F r sin  r  r  r 
1eG  2 fF  gE  1  2r 3 sin 2  1 1  1   1 
MC            
2EG  F 2
2r sin  
4 2
r 2  r   r 

 1
 
 r
 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
gauss map
1D

gauss map 2D

Let S⊂R3 be a surface with an orientation N.

The map N: S→R3 takes its values in the unit sphere

S 2  x, y , z  R 3 ; x 2  y 2  z 2  1, N  x, y , z 
The map N: S→S3 is called the Gauss map.
 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

S
object K  lim Gaussian sphere
O  0 O

O large S S small
(K: small)
 small
O

O small S
(K: large)
 large S large
O
Gaussian curvature and EGI maps
  
X v dv  O  X u du  X v dv
X u du  
 X u  X v dudv 
N v dv
v dv du 
N u du
u
 
N  N v dv
  
N S  N u du  N v dv
   
N  N u du  N u  N v dudv
  
 Since N u and N v exist on the tangential plane at X ,
 
 we can represent them by a linear combination of X u and X v
  
Nu  a11 Xu  a21 Xv
N v  a12 X u  a22 X v
   
N u  N v  ( a11a22  a12 a21 ) X u  X v
 
S N u  N v a a21 
    det 11
O Xu  Xv  a12 a22 
     
N u  X u  a11 X u  X u  a21 X v  X v
 e  a11 E  a21 F
     
N v  X u  a12 X u  X v  a22 X v  X u
 f  a12 E  a22 F
     
N u  X v  a11 X u  X v  a21 X v  X v
 f  a11 F  a21G
     
N v  X v  a12 X u  X v  a22 X v  X v
 g  a12 F  a22G
 e  f   a11 a21  E F
  G 
 f
  g   a12 a22  F
S a a21  eg  f 2
 det 11  k
O  a12 a22  EG  F 2

O
 EGI mass
S
1
 EGI map 
k
 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

side view

top view

Cylinder Ellipsoid
Determination of attitude using EGI

10 20 0

viewing
direction
5 8 0

EGI table

5 8 0
 The complex EGI(CEGI)

Normal distance and area of a 3-D object are encoded

as a complex weight. Pnk associated with the
surface normal nk such that:
nk
k

An k

dk
Pn k  An k e jd k
0
 The complex EGI(CEGI)

n1 Gauss mapping n1

A1e jd1 n6
A1
n6
n4 n3 n4

n3
d1
n5 n5
n2
Origin n2

(a) Cube (b) CEGI of cube

(note: The weight is shown only for normal n1 for clearly.)

 Bin picking system based on EGI
Photometric stereo
Needle map
segmentation
isolated regions
Region selection
target region
Photometric stereo
precise needle map
EGI generation
EGI
EGI matching
object attitude
Grasp planning
 Calibration
Lookup table for photometric stereo

Hand-eye 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