An approach to finding the solution equations for simple manipulators is described which enhances the well known method of Paul, Renaud, and Stevenson, by explicitly making use of known decouplings in the manipulator ...
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This paper describes a new approach to decision support based on logic programming. SAGE, Sequence Analysis by Graphical Evaluation, is a both a logic framework and a set of Prolog programs to express and then solve t...
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This paper describes a method for computing Gaussian and mean curvature maps from range data and a modification to this method aimed at facilitating its implementation as a VLSI circuit. The curvature computations con...
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We propose a two-level hierarchy for planning collision-free trajectories in time varying environments. Global geometric algorithms for trajectory planning are used in conjunction with a local avoidance strategy. Simu...
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This paper summarizes the design of a convolution processor card that is very low in cost, easy to use and most importantly, performs a 9 × 9 convolution in less than a second. Its high-performance is attributed ...
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The problem of curve detection decomposes naturally into two stages: (i) inferring the (discrete) trace and tangent to the curve;and (ii) finding integrals through the resultant tangent field. Orientation selection is...
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The focus of this article is the presentation of the issues involved in the design of a system able to automatically or semi-automatically construct a global, world-centered model of an industrial scene. In a robotic ...
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An approach to the problem of range image segmentation is described. It is a hybrid of region- and edge-based approaches. It is assumed that the range image of an object, which may be constructed of both curved and pl...
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An approach to the problem of range image segmentation is described. It is a hybrid of region- and edge-based approaches. It is assumed that the range image of an object, which may be constructed of both curved and planar surfaces, is divided into surface primitives which are homogeneous in their intrinsic differential geometric properties and do not contain discontinuities in either depth or surface orientation. The method is based on the computation of the Gaussian and mean curvatures from which a curvature sign map is computed. Two initial edge-based segmentations are also computed from the partial derivatives and depth values. One detects jump edges while the other highlights roof edges. The three image maps are then combined to produce the final range image segmentation. Experimental results for both synthetic and real range data of polyhedral and curved objects have proved the usefulness of the approach. Results for the real data are given.< >
Much of the emphasis in computervision research has been on recognizing objects. However, in order to perform tasks such as manipulating and avoiding collisions with objects, one needs to consider how to derive appro...
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Much of the emphasis in computervision research has been on recognizing objects. However, in order to perform tasks such as manipulating and avoiding collisions with objects, one needs to consider how to derive appropriate three-dimensional descriptions of objects from available sensor data. A description is given of a computational approach that has been successful in deriving renditions of shaded images in terms of volumetric primitives such as ellipsoids and cylinders.< >
Orientation selection is the inference of orientation information out of images. It is one of the foundations on which other visual structures are built, since it must precede the formation of contours out of pointill...
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Orientation selection is the inference of orientation information out of images. It is one of the foundations on which other visual structures are built, since it must precede the formation of contours out of pointillist data and surfaces out of surface markings. We take a differential geometric view in defining orientation selection and develop algorithms for actually doing it. The goal of these algorithms is formulated in mathematical terms as the inference of a vector field of tangents (to the contours), and the algorithms are studied in both abstract and computational forms. They are formulated as matching problems, and algorithms for solving them are reduced to biologically plausible terms. We show that two different matching problems are necessary, the first for 1-dimensional contours (which we refer to as Type I processes) and the second for 2-dimensional flows (or Type II processes).
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