Faat procedures for computing fuzzy prozimity meaaurea between a multifingered robot hand and an object to be grasped are presented in this paper. The computation useful in graap planning and in analyzing the local be...
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In automated feature-based motion analysis of multiple frames, correspondence data are usually noisy and fragmented. A technique that gradually refines the initial noisy correspondence data and links fragments of a si...
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In this paper, we present a complete and exact algorithm for planning a geometrically feasible path for a polyhedral subassembly (robot) translating amongst polyhedral obstacles. Our algorithm can be used to determine...
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In traditional geometric modeling, it is common to assume that models of objects created are complete and correct. Unfortunately in real life robots and other autonomous machines may have only uncertain knowledge of o...
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A novel approach to inspection is presented based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volu...
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This paper presents a new approach for vision-based autonomous road following. By building on a recently developed optical-flow-based theory, we suggest that motion commands can be generated directly from a visual fea...
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An approach for tracing, representation, and recognition of a handwritten numeral in an offline environment is presented. A 2D spatial representation of a numeral is first transformed into a 3D spatiotemporal represen...
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An approach for tracing, representation, and recognition of a handwritten numeral in an offline environment is presented. A 2D spatial representation of a numeral is first transformed into a 3D spatiotemporal representation by identifying the tracing sequence based on a set of heuristic rules acting as transformation operators. Given the dynamic information of the tracing sequence, a multiresolution critical-point segmentation method is proposed to extract local feature points, at varying degrees of scale and coarseness. A neural network architecture, the hierarchically self-organizing learning (HSOL) network (S. Lee, J.C. Pan, 1989), especially for handwritten numeral recognition, is presented. Experimental results based on a bidirectional HSOL network indicated that the method is robust in terms of variations, deformations, and corruption, achieving about 99% recognition rate for the test patterns.< >
This paper presents a mew algorithm for variable structure control systems. In the proposed algorithm a VEViable strnctnre controller for low moment of inertia systems has been discnssed. The concept nses the position...
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Addresses the problem of extracting polyhedral building structures from a stereo pair of aerial intensity images. The authors describe a system that computes a hierarchy of descriptions such as segments, junctions, an...
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Addresses the problem of extracting polyhedral building structures from a stereo pair of aerial intensity images. The authors describe a system that computes a hierarchy of descriptions such as segments, junctions, and links between junctions from each view, and matches these features at the different levels. Such high level features not only help reduce correspondence ambiguity during stereo matching, but also allow us to infer surface boundaries even though the boundaries may be broken because of noise and weak contrast. The authors hypothesize surface boundaries by examining global information such as continuity and coplanarity of linked edges in 3-D, rather than merely by looking at local depth information. When the walls of the buildings are visible, they also exploit the relationship among adjacent surfaces in a polyhedral object to help confirm the different levels of descriptions. The authors give some experimental results for aerial images taken from overhead views and oblique views.< >
The problem of computing volumetric shape from stereo is examined. It is argued that intermediate two-and-one-half-dimensional dense or wire-frame descriptions may not be always possible from stereo, especially when t...
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The problem of computing volumetric shape from stereo is examined. It is argued that intermediate two-and-one-half-dimensional dense or wire-frame descriptions may not be always possible from stereo, especially when there are curved surfaces in the scene, and that 3D volumetric descriptions of objects may have to be derived directly from stereo correspondences. Methods are then presented for recovering volumetric shape with linear straight homogeneous generalized cones (LSHGCs) and straight homogeneous generalized cones (SHGCs) as the shape models, using some invariant properties in their monocular and stereo projections. Experimental results on images of objects with curved surfaces are given.< >
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