%0 Conference Paper %B IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002 %D 2002 %T Contour migration: solving object ambiguity with shape-space visual guidance %A Abd-Almageed, Wael %A Smith,C.E. %K Artificial intelligence %K camera motion %K CAMERAS %K Computer vision %K contour migration %K Databases %K edge detection %K Intelligent robots %K Laboratories %K Machine vision %K object ambiguity %K Object recognition %K pattern matching %K Robot vision systems %K servomechanisms %K SHAPE %K shape matching %K shape-space visual guidance %K silhouette matching %K visual servoing %X A fundamental problem in computer vision is the issue of shape ambiguity. Simply stated, a silhouette cannot uniquely identify an object or an object's classification since many unique objects can present identical occluding contours. This problem has no solution in the general case for a monocular vision system. This paper presents a method for disambiguating objects during silhouette matching using a visual servoing system. This method identifies the camera motion(s) that gives disambiguating views of the objects. These motions are identified through a new technique called contour migration. The occluding contour's shape is used to identify objects or object classes that are potential matches for that shape. A contour migration is then determined that disambiguates the possible matches by purposive viewpoint adjustment. The technique is demonstrated using an example set of objects. %B IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002 %I IEEE %V 1 %P 330- 335 vol.1 - 330- 335 vol.1 %8 2002/// %@ 0-7803-7398-7 %G eng %R 10.1109/IRDS.2002.1041410