The singularities of the visual mapping

In this article we treat purely metrical properties of the visual image, e.g. the time changes of the relative positions and orientations of image details. Self-induced movements of an observer relative to rigid bodies in his environment generate charactertistic motion parallax fields. The observer may regard those fields as proprioceptive and interprete the geometrical invariants of the fields as indicators of solid shape. In this way his perceptions become object-oriented, which is the normal case as the many constancy-phenomena show. Similar arguments apply to the disparity field of binocular vision. In this paper we treat the qualitative nature of such fields. [In this case the qualitative nature is basic. Compare the case of an equation with a single unknown. Often one is interested primarily in the qualitative solution (are there roots? How many?), and only slightly in the quantitative information (the numerical value of a root).] The qualitative nature of the fields is fixed if their singularities are known. It is shown that the singularities are of two types: isolated points (so-called specular points) and line-singularities (so-called folds, cusps and T-junctions). It is shown that for most vantage points that an observer can occupy, the topological structure of the set of singularities does not change if the observer performs small exploratory movements. That is most vantage points are stable. At an unstable vantage point the set of singularities changes and the observer experiences an event. Because certain properties of the set of singularities are shown to be preserved, only a few simple types of event are possible. A complete list is presented. The occurrence of an event is shown to be simply related to the solid shape of the objects of vision. Our geometrical theory enables us to understand the structure of the observer's internal models of external bodies.