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Contents S.v-vi

1 Introduction S.1

2 Algorithm overview S.1-2

- 2.1 Assumptions S.1-2

- 2.2 Advantages gained from the assumptions S.2

- 2.3 The detection process S.2

3 Blob extraction S.3

4 Edge detection S.4-15

- 4.1 Basic edge detection S.4-10

- 4.2 Line formation S.10-12

- 4.3 Finding vertices S.12-14

- 4.4 Guided edge detection S.14-15

5 3D-synthesis S.16-19

- 5.1 Calibrated cameras S.16-17

- 5.2 Generating a 3D point S.17

- 5.3 Corresponding points S.17

- 5.4 Generating a 3D cube model S.18-19

6 Re nements to the algorithm S.20-21

- 6.1 Incomplete 2D projections S.20

- 6.2 Errors and estimates S.20-21

7 Performance tests S.22-27

- 7.1 Measurement of correctness S.22

- 7.2 Standard cube results S.22

- 7.3 Dependence on orientation S.22-24

- 7.4 Dependence on lighting S.24

- 7.5 Dependence on blob size S.24

- 7.6 Dependence on cube color S.24-27

- 7.7 Dependence on shadows S.28

8 Parameter estimation S.28

- 8.1 General parameters S.28

- 8.2 Speci c parameters S.29

9 Algorithm limitations and the concept of re ective teams S.29-33

- 9.1 Re ective team architecture S.30-32

- 9.2 3D cube algorithm as a non-re ective team S.32

- 9.3 Introducing re ection S.32-33

- 9.4 Self-assessment S.34

10 Conclusions S.34

References S.35