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A Criterion for the Optimal Design of Multiaxis Force Sensors
(1990-10-01)
This paper deals with the design of multi-axis force (also known as force/torque) sensors, as considered within the framework of optimal design theory. The principal goal of this paper is to identify a mathematical ...
Contact Sensing from Force Measurements
(1990-10-01)
This paper addresses contact sensing, i.e. the problem of resolving the location of a contact, the force at the interface and the moment about the contact normals. Called "intrinsic'' contact sensing for the use of ...
Data and Model-Driven Selection Using Color Regions
(1992-02-01)
A key problem in model-based object recognition is selection, namely, the problem of determining which regions in the image are likely to come from a single object. In this paper we present an approach that extracts ...
Finding Junctions Using the Image Gradient
(1991-12-01)
Junctions are the intersection points of three or more intensity surfaces in an image. An analysis of zero crossings and the gradient near junctions demonstrates that gradient-based edge detection schemes fragment edges ...
The Shape of Shading
(1990-10-01)
This paper discusses the relationship between the shape of the shading, the surface whose depth at each point equals the brightness in the image, and the shape of the original surface. I suggest the shading as an ...
Imagination and Situated Cognition
(1991-02-01)
A subsumption-based mobile robot is extended to perform cognitive tasks. Following directions, the robot navigates directly to previously unexplored goals. This robot exploits a novel architecture based on the idea ...
Synthesis of Visual Modules from Examples: Learning Hyperacuity
(1991-01-01)
Networks that solve specific visual tasks, such as the evaluation of spatial relations with hyperacuity precision, can be eastily synthesized from a small set of examples. This may have significant implications for the ...
Continuous Stochastic Cellular Automata that Have a Stationary Distribution and No Detailed Balance
(1990-12-01)
Marroquin and Ramirez (1990) have recently discovered a class of discrete stochastic cellular automata with Gibbsian invariant measures that have a non-reversible dynamic behavior. Practical applications include more ...
Bringing the Grandmother Back into the Picture: A Memory-Based View of Object Recognition
(1990-04-01)
We describe experiments with a versatile pictorial prototype based learning scheme for 3D object recognition. The GRBF scheme seems to be amenable to realization in biophysical hardware because the only kind of ...
An Alternative to Using the 3D Delaunay Tessellation for Representing Freespace
(1989-09-01)
Representing the world in terms of visible surfaces and the freespacesexisting between these surfaces and the viewer is an important problemsin robotics. Recently, researchers have proposed using the 3DsDelaunay ...