Handbook of Geometric Computing.pdf

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Handbook of Geometric Computing

Eduardo Bayro Corrochano

Handbook of

G eometric Computing

Applications in Pattern Recognition,

Computer Vision, Neuralcomputing,

and Robotics

With 277 Figures, 67 in color, and 38 Tables

123

Prof. Dr. Eduardo Bayro Corrochano

Cinvestav

Unidad Guadalajara

Ciencias de la Computación

P. O. Box 31-438

Plaza la Luna, Guadalajara

Jalisco 44550

México

edb@gdl.cinvestav.mx

Library of Congress Control Number: 2004118329

ACM Computing Classification (1998): I.4, I.3, I.5, I.2, F. 2.2

ISBN-10 3-540-20595-0 Springer Berlin Heidelberg New York

ISBN-13 978-3-540-20595-1 Springer Berlin Heidelberg New York

This work is subject to copyright. All rights are reserved, whether the whole or part of the

material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,

recitation, broadcasting, reproduction on microfilm or in any other way, and storage in

data banks. Duplication of this publication or parts thereof is permitted only under the

provisions of the German Copyright Law of September 9, 1965, in its current version, and

permission for use must always be obtained from Springer. Violations are liable for

prosecution under the German Copyright Law.

Springer is a part of Springer Science+Business Media

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Printed in Germany

The use of general descriptive names, registered names, trademarks, etc. in this publication

does not imply, even in the absence of a specific statement, that such names are exempt from

the relevant protective laws and regulations and therefore free for general use.

Cover design: KünkelLopka, Heidelberg

Production: LE-TeX Jelonek, Schmidt & Vöckler GbR, Leipzig

Typesetting: by the author

Printed on acid-free paper 45/3142/YL - 5 4 3 2 1 0

Preface

One important goal of human civilization is to build intelligent machines, not

necessarily machines that can mimic our behavior perfectly, but rather ma-

chines that can undertake heavy, tiresome, dangerous, and even inaccessible

(for man) labor tasks. Computers are a good example of such machines. With

their ever-increasing speeds and higher storage capacities, it is reasonable to

expect that in the future computers will be able to perform even more useful

tasks for man and society than they do today, in areas such as health care,

automated visual inspection or assembly, and in making possible intelligent

man–machine interaction. Important progress has been made in the develop-

ment of computerized sensors and mechanical devices. For instance, according

to Moore’s law, the number of transistors on a chip roughly doubles every two

years – as a result, microprocessors are becoming faster and more powerful

and memory chips can store more data without growing in size.

Developments with respect to concepts, uniﬁed theory, and algorithms for

building intelligent machines have not occurred with the same kind of lightning

speed. However, they should not be measured with the same yardstick, because

the qualitative aspects of knowledge development are far more complex and

intricate. In 1999, in his work on building anthropomorphic motor systems,

Rodney Brooks noted: “A paradigm shift has recently occurred – computer

performance is no longer a limiting factor. We are limited by our knowledge

of what to build.” On the other hand, at the turn of the twenty-ﬁrst century,

it would seem we collectively know enough about the human brain and we

have developed suﬃciently advanced computing technology that it should be

possible for us to ﬁnd ways to construct real-time, high-resolution, veriﬁable

models for signiﬁcant aspects of human intelligence.

Just as great strides in the dissemination of human knowledge were made

possible by the invention of the printing press, in the same way modern scien-

tiﬁc developments are enhanced to a great extent by computer technology. The

Internet now plays an important role in furthering the exchange of informa-

tion necessary for establishing cooperation between diﬀerent research groups.

Unfortunately, the theory for building intelligent machines or perception-and-

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