This monograph is devoted to the problem of inferring geometric
information about arbitrarily curved surfaces from visual cues;
this is a central problem in computer vision with immediate
relevance for robot manipulation and navigation.
The author develops computational theories and techniques relating
visual information arising from viewer movements to the
differential geometry of visible surfaces. The theories developed
have been implemented and tested using a real-time tracking system
based on deformable contours. Applications of the techniques to
geometric modelling, obstacle avoidance, navigation, and object
manipulation are presented.
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