Natural computation

Designed for the MIT course, Natural Computation, this extensive book of readings combines mathematics, artificial intelligence, computer science, experimental psychology, and neurophysiology in studying perception. Mathematics is emphasized for making perceptual inferences and the spectrum of mathematical techniques used is very broad. While the more than thirty readings focus primarily on vision, they also encompass the study of sound perception and the interpretation and application of forces including movement. Each article is a self contained example of how a perceptual problem may be tackled and solved. For example, what makes wood look like wood not like stone, sand, or grass? How can we represent three dimensional shapes when the same shape is rarely seen in exactly the same way? Each of the five sections is preceded by an introduction and the book concludes with problem sets. Whitman A. Richards is Professor in the Brain and Cognitive Science Department at MIT. A Bradford Book. Title ......Page 3 Copyright ......Page 4 Contents ......Page 5 Preface ......Page 9 I. Introduction to Natural Computation ......Page 11 1. The Approach ......Page 13 II. Image Interpretation: Information at Contours ......Page 27 2. Intensity-Based Edge Classification / Andrew P. Witkin ......Page 46 3. Analysis of Accretion and Deletion at Boundaries in Dynamic Scenes / K.M. Mutch & W.B. Thompson ......Page 54 4. CARTOON: A Biologically Motivated Edge Detection Algorithm / W. Richards, H.K. Nishihara & B. Dawson ......Page 65 5. Illusory Contours and Cortical Neuron Response / R. von der Heydt, E. Peterhans & G. Baumgartner ......Page 80 6. Representing Smooth Plane Curves for Recognition: Implications for Figure-Ground Reversal / D.D. Hoffman & W.A. Richards ......Page 86 7. Encoding Contour Shape by Curvature Extrema / W. Richards, B. Dawson & D. Whittington ......Page 93 8. Inferring 3D Orientation from 2D Contour (An Extremum Principle) / Michael Brady & Alan Yuille ......Page 109 9. The Line of Curvature Constraint and the Interpretation of 3D Shape from Parallel Surface Contours / K.A. Stevens ......Page 117 10. The Shape of Smooth Objects and the Way Contours End / J.J. Koenderink & Andrea J. van Doom ......Page 125 11. Inferring 3D Shapes from 2D Silhouettes / W. Richards, J.J. Koenderink & D.D. Hoffman ......Page 135 12. From Waltz to Winston / S. Truve & W. Richards ......Page 148 III. Image Interpretation: Property Tags: Color, 3D Texture, Flow Fields ......Page 169 13. Lightness and Retinex Theory / Edwin H. Land & John J. McCann ......Page 187 14. Color Vision: Representing Material Categories / John M. Rubin & W.A. Richards ......Page 204 15. Models of Light Reflection for Computer Synthesized Pictures / James F. Blinn ......Page 224 16. Inferring "Water" from Images / T.J. Rung & W. Richards ......Page 234 17. Computing the Velocity Field Along Contours / Ellen C. Hildreth ......Page 244 18. Analyzing Oriented Patterns / M. Kass & A. Witkin ......Page 262 19. 3D Texture: Stereo Psychophysics and Geometry / Jacques Ninio ......Page 276 20. Fractal-based Descriptions of Surfaces / Alex P. Pentland ......Page 289 IV. Sound Interpretation ......Page 309 21. Representing Acoustic Information / C. Searle ......Page 319 22. A Computational Model of Binaural Localization and Separation / Richard Lyon ......Page 329 23. Schematizing Spectrograms for Speech Recognition / Michael Riley ......Page 338 24. The Acoustics of the Singing Voice / Johan Sundberg ......Page 353 25. Recovering Material Properties from Sound / R. Wildes & W. Richards ......Page 366 26. Auditory Perception of Breaking and Bouncing Events: Psychophysics / William H. Warren, Jr. & Robert R. Verbrugge ......Page 374 27. Perception of Melodies / H.C. Longuet-Higgins ......Page 386 V. Force Sensing and Control ......Page 399 28. On the Prehension of the Human Hand / Alberto Rovetta ......Page 412 29. Articulated Hands: Force Control and Kinematic Issues / J.K. Salisbury & John J. Craig ......Page 416 30. Texture from Touch / S.M. Drucker ......Page 432 31. Physical Systems Theory and Controlled Manipulation / N. Hogan ......Page 440 32. Rigid Body Load Inertial Parameter Estimation / Christopher G. Atkeson, Chae H. An & John M. Hollerbach ......Page 453 33. Dynamic Scaling of Manipulator Trajectories / J.M. Hollerbach ......Page 465 34. A Ballistic Model for Walking / S. Moehon & T.A. McMahon ......Page 475 35. Some Properties of Regularl;y Realizable Gait Matrices / R.B. McGhee & A.K. Jain ......Page 484 36. Balance and Symmetry in Running / Marc Raibert ......Page 497 VI. Future Directions ......Page 515 Problems in Natural Computation ......Page 531 Glossary ......Page 541 Name Index ......Page 551 Subject Index ......Page 563