api_documentation: http://ros.org/doc/fuerte/api/contracting_curve_density_algorithm/html
authors: Shulei Zhu, Dejan Pangercic
brief: ''
bugtracker: ''
depends:
- opencv2
- cv_bridge
- roscpp
- image_transport
depends_on: []
description: "\n    An extended and optimized implementation of the state-of-theart\n\
  \    local curve fitting algorithm named Contracting Curve Density (CCD) algorithm,\
  \ originally\n    developed by Hanek et al. \n    The CCD algorithm can be best\
  \ described as follows. Given one or multiple images as\n    input data and a parametric\
  \ curve model with a priori distribution of model parameters,\n    through curve-fitting\
  \ process, we estimate the model parameters which determine the approximation\n\
  \    of the posterior distribution in order to make the curve models best matching\n\
  \    the image data. In order to improve the stability, accuracy and robustness\
  \ over the original\n    implementation we introduce the following improvements.\
  \ Firstly, we use the logistic\n    sigmoid function instead of a Gaussian error\
  \ function which renders a curve-fitting problem\n    as a Gaussian logistic regression\
  \ problem known in the field of pattern recognition.\n    Secondly, a quadratic\
  \ or a cubic B-spline curve is used to model the parametric curve to\n    avoid\
  \ the Runge phenomenon without increasing the degree of the B-spline. Thirdly, the\n\
  \    system supports both planar affine (6-DOF) and three-dimensional affine (8-DOF)\
  \ shapespace.\n    The latter affine space can avoid curve mismatching caused by\
  \ major viewpoint\n    changes. Lastly, in order to avoid manual intervention by\
  \ the user, the developed system\n    also supports robust global initial curve\
  \ initialization modules based on both keypoint\n    feature matching and back-projections\
  \ from the 3D point clouds.\n  "
doc_job: doc-fuerte-tum
license: BSD
maintainers: ''
metapackages:
- ias_perception
msgs: []
package_type: package
repo_name: ias_perception
repo_url: ''
srvs: []
timestamp: 1369320111.740558
url: http://ros.org/wiki/contracting_curve_density_algorithm
vcs: git
vcs_uri: http://code.in.tum.de/git/ias-perception.git
vcs_version: null
