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Symmetry

 

Motivation

In nature as in day-to-day life, symmetry is a manifold and widespread feature. Many of the artifacts that we use show a symmetric structure by some means or another. Animals and human beings take advantage of symmetry as a landmark for visual exploration of objects and scenes. Until today, symmetry has been investigated in multiple diverse domains, e.g. in biology, where animals take preferences for pairing by symmetry [KirkpatrickR'94, EnquistA'94] or pigeons have been successfully trained to discriminate between symmetric and asymmetric shapes [DeliusN'82]. Aspects of symmetry were also explored in the fields of psychology and psychophysics [PalmerH'78, LocherN'89], mathematics and computer vision. Many of the aspects related to nature and mathematics can be found in the book "Fearful Symmetry: Is God a Geometer?" by Stewart and Golubitsky [StewartG'92]. In computer vision, symmetry describes a regional feature, whose significance grows along with the considered image region - in contrast to more familiar approaches like edge detection. The hereby caused disadvantage of many symmetry approaches is the high effort in calculation time, because of the necessarily wider operators for symmetry detection.

References

Own and cooperative Work

[HuebnerVI'03]K. Huebner, "A 1-Dimensional Symmetry Operator for Image Feature Extraction in Robot Applications", 16th International Conference on Vision Interface (VI'03), pp. 286-291, 2003.
[HuebnerRC'03]K. Huebner, "A Symmetry Operator and its Application to the RoboCup", RoboCup 2003: Robot Soccer World Cup VII, pp. 274-283, 2004.
[Huebner'04]K. Huebner, "Symmetrie als kognitives Bildmerkmal", 10. Workshop Farbbildverarbeitung, 2004. To appear.
[PopescuHZ'02]D. Popescu and K. Huebner and J. Zhang, "Real-time Intelligent Vision Sensor for Robot Navigation Using Symmetry Features", 5th International FLINS Conference on Computational Intelligent System for Applied Research, pp. 421-428, 2002.
[PopescuZ'03]D. Popescu and J. Zhang, "Fuzzy expert system based on symmetry features for range estimations,", Proceedings of the 6th International Conference on Climbing and Walking Robots, S. 1007-1014, 2003.
[PopescuZ'04]D. Popescu and J. Zhang, "Hardware implementation of an improved symmetry feature point extraction algorithm", Proceedings of the 6th International FLINS Conference on Computational Intelligent Systems for Applied Research, 2004.
[WagnerH'04]T. Wagner and K. Huebner, "An Egocentric Qualitative Spatial Knowledge Representation Based on Ordering Information for Physical Robot Navigation", 8th International Workshop on RoboCup 2004 (Robot World Cup Soccer Games and Conferences). Lecture Notes in Computer Science, 2004. To appear.
[ZhangH'02]J. Zhang and K. Huebner, "Using Symmetry as a Feature in Panoramic Images for Mobile Robot Applications", Proceedings of Robotik 2002, VDI-Berichte 1679, pp. 263-268, 2002.

Symmetry in Biology and Psychology

[BarlowR'79]H.B. Barlow and B.C. Reeves, "The Versatility and Absolute Efficiency of Detecting Mirror Symmetry in Random Dot Displays", Vision Research 19, pp. 783-793, 1979.
[CsathoVH'03]Á. Csathó and G. van der Vloed and P.A. van der Helm,"Blobs strengthen repetition but weaken symmetry", Vision Research 43, pp. 993-1007, 2003.
[DeliusN'82]J.D. Delius and B. Nowak, "Visual Symmetry Recognition by Pigeons", Psychological Research 44, pp. 199-212, 1982.
[EnquistA'94]M. Enquist and A. Arak, "Symmetry, beauty and evolution", Nature 372, pp. 169-172, 1994.
[KirkpatrickR'94]M. Kirkpatrick and G.G. Rosenthal, "Symmetry without fear", Nature 372, pp. 134-135, 1994.
[LocherN'89]P. Locher and C. Nodine, "The Perceptual Value of Symmetry", Comput. Math. Applic. 17, pp. 475-484, 1989.
[PalmerH'78]S.E. Palmer and K. Hemenway, "Orientation and Symmetry: Effects of Multiple, Rotational, and Near Symmetries", Journal of Experimental Psychology: Human Perception and Performance 4 (4), pp. 691-702, 1978.
[Tyler'94]C.W. Tyler (Ed.), Spatial Vision 8 (4): "Special Issue on The Perception of Symmetry", 1994.
[vdHelm'02]P.A. van der Helm, "Natural selection of visual symmetries", Behavioral and Brain Sciences 25 (3), pp. 422-423, 2002.

Symmetrie in der Bildverarbeitung

[BigunPhD'88]J. Bigün, "Local Symmetry Features in Image Processing", Linköping University, PhD Thesis No. 179, 1988.
[Bolduc'95]M. Bolduc and G. Sela and M.D. Levine and V. Cantoni and L. Lombardi and M. Mosconi and M. Savini and A. Setti, "Fast Computation of Multiscalar Symmetry in Foveated Images", Proceedings of the Conference on Computer Architectures for Machine Perception, pp. 2-11, 1995. Only abstract.
[BradyA'84]M. Brady and H. Asada, "Smoothed Local Symmetries and Their Implementation", The International Journal of Robotics Research 3 (3), pp. 36-61, 1984.
[Chetverikov'99a]D. Chetverikov, "Texture Analysis Using Feature Based Pairwise Interaction Maps,", Pattern Recognition 32, Special Issue on Color and Texture, S.487-502, 1998.
[Chetverikov'99]D. Chetverikov, "Fundamental Structural Features in the Visual World", Proceedings of the International Workshop on Fundamental Structural Properties in Image and Pattern Analysis, pp. 47-58, 1999.
[Chetverikov'03]D. Chetverikov and Z. Jankó, "Skewed Symmetry of Bidirectional Textures", Proceedings of the 27th Workshop of the Austrian Association for Pattern Recognition, pp. 97-102, 2003.
[DiGesu'95]V. Di Gesù and C. Valenti, "The Discrete Symmetry Transform in Computer Vision", Technical Report DMA Università di Palermo, 1995.
[DiGesu'95b]V. Di Gesù and C. Valenti, "Symmetry Operators in Computer Vision", Proceedings of the First CCMA Workshop on Vision Modeling and Information Coding, 1995.
[DiGesu'96]V. Di Gesù and C. Valenti, "A New Symmetry Operator for the Analysis of Sequences of Images", 1996.
[Ferguson'00]R.W. Ferguson, "Modeling Orientation Effects in Symmetry Detection: The Role of Visual Structure", Proceedings of the 22nd Conference of the Cognitive Science Society, 2000.
[JohanssonG'00]B. Johansson and G. Granlund, "Fast Selective Detection of Rotational Symmetries using Normalized Inhibition", Proceedings of the 6th European Conference on Computer Vision I, pp. 871-887, 2000.
[JohanssonKG'00]B. Johansson and H. Knutsson and G. Granlund, "Detecting Rotational Symmetries using Normalized Convolution", Proceedings of the 15th International Conference on Pattern Recognition 3, pp. 500-504, 2000.
[Johansson'03]B. Johansson, "Rotational Symmetries - a Quick Tutorial", Dept. EE, Linköping University, 2003.
[KellyL'95]M.F. Kelly and M.D. Levine, "Annular Symmetry Operators: A Method for Locating and Describing Objects", Fifth International Conference on Computer Vision, pp. 1016-1021, 1995. Only abstract.
[Kovesi'97]P.D. Kovesi, "Symmetry and Asymmetry From Local Phase", The 10th Australian Joint Conference on Artificial Intelligence, Poster Proceedings, pp. 185-190, 1997.
[Liu'00]Y. Liu, "Computational Symmetry", 21 of Symmetry 2000, pp. 231-245, 2000.
[LoyZ'02]G. Loy and A. Zelinsky, "A Fast Radial Symmetry Transform for Detecting Points of Interest", Proceedings of European Conference on Computer Vision (ECCV2002), pp. 358-368, 2002.
[ManmathaS'97]R. Manmatha and H.S. Sawhney, "Finding Symmetry in Intensity Images", University of Massachusetts, 1997.
[Mukherjee'95]D. Mukherjee and A. Zisserman and J. Brady, "Shape from Symmetry - Detecting and Exploiting Symmetry in Affine Images", Philosophical Transactions of Royal Society of London, Series A (351), pp. 77-106, 1995.
[ReisfeldWY'95]D. Reisfeld and H. Wolfson and Y. Yeshurun, "Context Free Attentional Operators: the Generalized Symmetry Transform", International Journal of Computer Vision 14, pp. 119-130, 1995.
[SelaL'97]G. Sela and M.D. Levine, "Real-time Attention for Robotic Vision", Real-Time Imaging 3, pp. 173-194, 1997. Only abstract.
[Sun'95]C. Sun, "Symmetry detection using gradient information", Pattern Recognition Letters 16, pp. 987-996, 1995.
[SunS'99]C. Sun and D. Si, "Fast Reflectional Symmetry Detection Using Orientation Histograms", Real-Time Imaging 5 (1), pp. 63-74, 1999.
[Zabrodsky'90]H. Zabrodsky, "Symmetry - A Review", Department of Computer Science, The Hebrew University of Jerusalem, 1990.
[ZabrodskyPA'92]H. Zabrodsky and S. Peleg and D. Avnir, "Hierarchical Symmetry", International Conference on Pattern Recognition C, pp. 9-12, 1992.
[ZabrodskyPA'95]H. Zabrodsky and S. Peleg and D. Avnir, "Symmetry as a Continuous Feature", IEEE Transactions on Pattern Analysis and Machine Intelligence 17 (12), 1995.

Symmetry in special domains

[DiPrimio'97]F. Di Primio, "Symmetry and Symmetry-Breaking in Multi-Agent Behavior", In: Proceedings of International Symposium on Artificial Life and Robotics (AROB '97), pp. 28-33, 1997.
[Wong'00]K.-Y. K. Wong and P. R. S. Mendonca and R. Cipolla, "Camera Calibration from Symmetry", In: Proc. 9th IMA Conference on the Mathematics of Surfaces, pp. 214-226, 2000.

Books about Symmetry

[Hargittai'94]I. Hargittai and M. Hargittai, "Symmetry - A Unifying Concept", Shelter Publications, ISBN 0-936070-17-X, 1994.
[StewartG'92]I. Stewart and M. Golubitsky, "Denkt Gott symmetrisch ?" (German translation of the book "Fearful Symmetry: Is God a Geometer?", 1992.

 
   
Author: Kai Hübner
 
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Last updated: June 14, 2006   impressum