The requirements specification and definition is one of the important and difficult tasks in the design and implementation of systems which realize various user requests. This paper proposes a knowledge‐based require...
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The term active stresses the role of the motion or, generally speaking, the dynamic interaction of the observer with the environment. This concept emphasizes the relevance of determining scene properties from the temp...
The term active stresses the role of the motion or, generally speaking, the dynamic interaction of the observer with the environment. This concept emphasizes the relevance of determining scene properties from the temporal evolution of image features. Within the active vision approach, two different aspects are considered: the advantages of space-variant vision for dynamic visual processing and the qualitative analysis of optical flow. A space-variant sampling of the image plane has many good properties in relation to active vision. In particular, two examples are presented in which a log-polar representation is used for active vergence control and to estimate the time-to-impact during tracking egomotion. These are just two modules which could fit into a complete active vision system, but already highlight the advantages of space-variant sensing within the active vision paradigm. In the second part of the paper the extraction of qualitative properties from the optical flow is discussed. A new methodology is proposed in which optical flows are analyzed in terms of anomalies as unexpected velocity patterns or inconsistencies with respect to some predicted dynamic feature. Two kinds of knowledge are necessary: about the dynamic of the scene (for example, the approximate motion of the camera) and about the task to be accomplished, which is analogous to (qualitatively) knowing the kind of scene I would expect to see. The first simply implies the measurement of some motion parameters (for example, with inertial sensors) directly on the camera, or to put some constraints in the egomotion. The second requirement implies that the visual process is task-driven. Some examples are presented in which the method is successfully applied to robotic tasks.
This paper presents a systems life cycle and a structured design method which are tailored towards the construction of real-time systems in general, and hard real-time systems in particular. The standard systems life ...
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A distributed computational architecture for the motor planning functions is explored. It combines a paradigm of self-organization (for building robust and coherent maps of the different motor spaces) with relaxation ...
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Stereo vision and motion analysis have been frequently used to infer scene structure and to control the movement of a mobile vehicle or a robot arm. Unfortunately, when considered separately, these methods present int...
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This paper extends the results of P.A. Bernstein and D.W. Chiu (1981), P.A. Bernstein and N. Goodman (1981), and J.D. Ullman (1988), by constructing a parallel algorithm for a subset of tree queries called chain queri...
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This paper extends the results of P.A. Bernstein and D.W. Chiu (1981), P.A. Bernstein and N. Goodman (1981), and J.D. Ullman (1988), by constructing a parallel algorithm for a subset of tree queries called chain queries. An efficient parallel algorithm for a construction of full reducers for chain queries is presented and analyzed. The authors claim that the full reduction of a chain query can be done in parallel by executing only 2n-2 semijoins in the time required for an n-1 semijoins evaluation.< >
The implementation details of a Lisp environment built on top of a distributed operating system are presented. The system provides transparent distribution, protected large-grain persistent heaps, concurrency within e...
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We present an experiment in human-machine spoken language interaction to determine whether subjects made use of diagnostic error messages. These experiments were performed within an air travel domain, using data from ...
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The implementation details of a Lisp environment built on top of a distributed operating system are presented. The system provides transparent distribution, protected large-grain persistent heaps, concurrency within e...
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The implementation details of a Lisp environment built on top of a distributed operating system are presented. The system provides transparent distribution, protected large-grain persistent heaps, concurrency within each environment and seamless sharing of Lisp data structures between separate environments.< >
A distributed computational architecture for the motor planning functions is explored. It combines a paradigm of self-organization (for building robust and coherent maps of the different motor spaces) with relaxation ...
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A distributed computational architecture for the motor planning functions is explored. It combines a paradigm of self-organization (for building robust and coherent maps of the different motor spaces) with relaxation dynamics (for run-time incorporation of task constraints). The model, named SOBoS (Self-Organizing Body Schema), is illustrated with simulation results. Unlike other attempts to use self-organizing techniques for learning sensory-motor mappings, SOBoS can overcome the redundancy problem by learning, during exploratory movements, the direct motor space transformations (which are always well-defined) instead of the inverse ones (which are ill-defined for redundant systems) and by performing, during planning, a relaxation in a potential landscape determined by a combination of multiple task-dependent constraints. The model can initiate actual movements, by supplying the cerebral motor cortex and the cerebellar cortex with the necessary planning patterns, or can support mental simulations with an accurate reproduction of spatial and temporal patterns.< >
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