Marrs Computational Theory

Marr (1982) put forward a computational theory of the processes involved in object recognition. He proposed a series of representations (i.e., descriptions) providing increasingly detailed information about the visual environment. Marr identified three major kinds of representation (see Figure 4.3):

• Primal sketch: this provides a two-dimensional description of the main light-intensity changes in the visual input, including information about edges, contours, and blobs.

• 2-t-D sketch: this incorporates a description of the depth and orientation of visible surfaces, making use of information provided by shading, texture, motion, binocular disparity, and so on; like the primal sketch, it is observer-centred or viewpoint-dependent.

• 3-D model representation: this describes three-dimensionally the shapes of objects and their relative positions in a way that is independent of the observer's viewpoint (viewpoint-invariant).

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