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Surface curvature along extremal boundaries is potentially useful information for navigation, grasping and object identification tasks. Previous theories have shown that qualitative information about curvature can be obtained from a static view. Furthermore it is known that, for orthographic projection, under planar viewer-motion, quantitative curvature information is available from spatio-temporal derivatives of flow. This theory is extended here to arbitrary curvilinear viewer-motion and perspective projection.

Robust estimation of surface curvature from deformation of apparent contours