Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site contro...
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Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.
Laws has introduced a class of texture features based on average degrees of match of the pixel neighbourhoods with a set of standard masks. These features yield better texture classification than standard features bas...
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Laws has introduced a class of texture features based on average degrees of match of the pixel neighbourhoods with a set of standard masks. These features yield better texture classification than standard features based on pairs of pixels. Simplifications of these features are investigated. Their performance is not greatly affected by their exact form and also appears to remain the same if only local match maxima are used. An alternative definition of such features is also presented, based on sums and differences of Gaussian convolutions.
An automated system for detecting Osteogenesis Imperfecta (OI), an inheritable disorder of human connective tissue, is described. The approach is one of texture analysis, founded on standard statistical recognition of...
An automated system for detecting Osteogenesis Imperfecta (OI), an inheritable disorder of human connective tissue, is described. The approach is one of texture analysis, founded on standard statistical recognition of co-occurrence-based texture descriptors. Our contribution is to show that texture descriptors derived from gray-level co-occurrence matrices can be used in conjunction with descriptors derived from generalized co-occurrence matrices of local image features to increase performance. In fact, for the OI problem, our system demonstrates a level of performance which is significantly better than that of medical specialists.
作者：
FERRIE, FPLEVINE, MDZUCKER, SWComputer Vision and Graphics Laboratory
Department of Electrical Engineering McGill University Montreal P.Q. Canada SENIOR MEMBER
IEEE Computer Vision and Graphics Laboratory Department of Electrical Engineering McGill University Montreal P.Q. Canada MEMBER
IEEE Computer Vision and Graphics Laboratory Department of Electrical Engineering McGill University Montreal P.Q. Canada
This paper presents a model of motion suitable for cell tracking. It includes a representation for cell dynamics enabling it to maintain a correspondence between successive images of cells undergoing morphological cha...
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This paper presents a model of motion suitable for cell tracking. It includes a representation for cell dynamics enabling it to maintain a correspondence between successive images of cells undergoing morphological changes. This model is based on a minimization problem whose computational solution is similar in form to a Newton-Rhapson iteration. The model is supported by experimental results from an actual tracking problem.
Frame-to-frame coherence is the highly structured relationship that exists between successive frames of certain animation sequences. From the point of view of the hidden surface computation, this implies that parts of...
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The dynamic performance of computer-controlled manipulators is directly linked to the formulation of the dynamic model of manipulators and its corresponding control law. Several approaches are available in formulating...
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The dynamic performance of computer-controlled manipulators is directly linked to the formulation of the dynamic model of manipulators and its corresponding control law. Several approaches are available in formulating the dynamic models of mechanical manipulators and most notably of these are the Lagrange-Euler and the Newton-Euler formulations. This paper describes an efficient position plus derivative control in joint space for a PUMA robot arm whose dynamic equations of motion are formulated by the Newton-Euler method. The controller compensates the inertia loading, the nonlinear coupling reaction forces between joints and the gravity loading effects. Using a PDP 11-/45 computer the controller equation can be computed in 3 ms which is sufficient for real-time control. computer simulation of the performance of the control law is included for discussion.
作者：
ZUCKER, SWLECLERC, YGMOHAMMED, JLMEMBER
IEEE Department of Electrical Engineering Computer Vision and Graphics Laboratory McGill University Montreal P.Q. Canada
Relaxation labeling processes are a class of iterative algorithms for using contextual information to reduce local ambiguities. This paper introduces a new perspective toward relaxation-that of considering it as a pro...
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Relaxation labeling processes are a class of iterative algorithms for using contextual information to reduce local ambiguities. This paper introduces a new perspective toward relaxation-that of considering it as a process for reordering labels attached to nodes in a graph. This new perspective is used to establish the formal equivalence between relaxation and another widely used algorithm, local maxima selection. The equivalence specifies conditions under which a family of cooperative relaxation algorithms, which generalize the well-known ones, decompose into purely local ones. Since these conditions are also sufficient for guaranteeing the convergence of relaxation processes, they serve as stopping criteria. We feel that equivalences such as these are necessary for the proper application of relaxation and maxima selection in complex speech and vision understanding systems.
Frame-to-frame coherence is the highly structured relationship that exists between successive frames of certain animation sequences. From the point of view of the hidden surface computation, this implies that parts of...
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