A hierarchical stereo system is described that uses structural descriptions up to the surface level. Surface descriptions are computed from monocular images, by using a perceptual grouping technique. Occlusion can be ...
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A hierarchical stereo system is described that uses structural descriptions up to the surface level. Surface descriptions are computed from monocular images, by using a perceptual grouping technique. Occlusion can be a major problem in stereo analysis and is often not treated explicitly. An analysis is presented of occlusion effects in stereo, and it is shown how structural descriptions can be used to deal with them. Experimental results are given for scenes with curved objects and significant occlusions.< >
A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and ar...
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A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. computer simulations were conducted to show the feasibility of the proposed method.< >
A new method for the solution of continuous time Markov chains is proposed. The method is based on the numerical integration of the underlying differential equation. The stepsize of the integration is chosen to minimi...
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A new method for the solution of continuous time Markov chains is proposed. The method is based on the numerical integration of the underlying differential equation. The stepsize of the integration is chosen to minimize the error of the steady state solution. Results show that for a given number of floating point operations; the integration method converges faster than the Gauss-Seidel or successive over-relaxation method when sparse and stiff transition rate matrices are considered.< >
In this paper, a novel approach to solve the mobile robot path planning problem in an unknown environment is presented. Inherently, the obstacle information from robot perception is contaminated with uncertainties, an...
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Surface reconstruction from cross-sectional contours has become increasingly important in medical image applications. In this paper, a method of reconstructing the surface of an object based on the descriptions of cro...
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To improve the performance of autonomous vehicles operating in a factory environment, it is important to develop an intelligent planning system to avoic. vehicle collisions as well as to design a good path network whi...
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The objective of this paper is to present a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor...
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A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligentsystems is defined in terms of the unique type ...
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A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligentsystems is defined in terms of the unique type of information multiple sensors can provide. Multisensor integration is discussed in terms of basic integration functions and multisensor fusion in terms of the different levels at which fusion can take place. Numerical examples are given to illustrate a variety of different fusion methods. Speculations concerning possible research future directions and a guide to survey and review papers in the area of multisensor integration and fusion are presented.< >
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