next up previous contents
Next: Visibility of a Point Up: Perception Modeling Previous: Functionality

Computing Visibility

 

An object is ``visible'' if any part of it enters the view volume and is not fully occluded by another object. To determine visibility, we associate with the vision sensor the fish's local right-handed coordinate system tex2html_wrap_inline3106 (see Fig. gif or Fig. gif). The x-axis is along the fish's spinal axis and the y-axis points to the fish's left.


next up previous contents
Next: Visibility of a Point Up: Perception Modeling Previous: Functionality
Xiaoyuan TuJanuary 1996