Active shape-from-shadows with controlled illuminant trajectories

James J. Clark*, Lei Wang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


We present an active vision algorithm for computing the orientation and position of a locally planar object, onto which is cast a shadow of the edge of a half-plane at an unknown location. This algorithm utilises active position control of a point light source, and employs a Kalman filter to perform temporal integration of measurements. The light source position is adjusted after each measurement so as to reduce the trace of the expected state estimate error covariance matrix for the next measurement. We demonstrate the active shape-from-shadows algorithm using a real robotic system.

Original languageEnglish (US)
Pages (from-to)141-166
Number of pages26
JournalInternational Journal of Computer Vision
Issue number3
StatePublished - Jul 2001


  • Active vision
  • Kalman filter
  • Shape-from-shadows

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition
  • Artificial Intelligence

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