COMPUTER VISION is a field of research that encompasses many
objectives. A primary goal has been to construct visual sensors
that can provide general-purpose robots with the same information
about their surroundings as we receive from our own visual senses.
This book takes an important step towards this goal by describing a
working computer vision system named SCERPO. This system can
recognize known three-dimensional objects in ordinary
black-and-white images taken from unknown viewpoints, even when
parts of the object are undetectable or hidden from view. A second
major goal of computer vision re search is to provide a
computational understanding of human vision. The research presented
in this book has many implica tions for our understanding of human
vision, particularly in the areas of perceptual organization and
knowledge-based recogni tion. An attempt has been made to relate
each computational result to the relevant areas in the psychology
of vision. Since the material is meant to be accessible to a wide
range of inter disciplinary readers, the book is written in plain
language and attempts to explain most concepts from the starting
position of the non-specialist. vii viii PREFACE One of the most
important conclusions ansmg from this research is that visual
recognition can commonly be achieved directly from the
two-dimensional image without any prelim inary reconstruction of
depth information or surface orienta tion from the visual input."
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