Zhu, Linlin; Fan, Baojie; Tang, Yandong - In: Industrial Robot: An International Journal 37 (2010) 4, pp. 364-371
/methodology/approach – The contour‐evolution process is separated into two steps: global translation and local deformation. The contour global … translation and local deformation are realized by average and normal gradient flow of the evolving contour curve, respectively … that it moves to the object without deformation first and then it deforms into the shape of the object when it moves on the …