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Alignment by Maximization of Mutual Information
(1995-03-01)
A new information-theoretic approach is presented for finding the pose of an object in an image. The technique does not require information about the surface properties of the object, besides its shape, and is robust ...
Parameter Estimation in Chaotic Systems
(1995-04-01)
This report examines how to estimate the parameters of a chaotic system given noisy observations of the state behavior of the system. Investigating parameter estimation for chaotic systems is interesting because of ...
Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact
(1995-05-01)
This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a ...
Asymptotically Zero Energy Computing Using Split-Level Charge Recovery Logic
(1994-06-01)
The dynamic power requirement of CMOS circuits is rapidly becoming a major concern in the design of personal information systems and large computers. In this work we present a number of new CMOS logic families, Charge ...
Passive Dynamics in the Control of Gymnastic Maneuvers
(1995-03-01)
The control of aerial gymnastic maneuvers is challenging because these maneuvers frequently involve complex rotational motion and because the performer has limited control of the maneuver during flight. A performer can ...
Embodiment and Manipulation Learning Process for a Humanoid Hand
(1995-05-01)
Babies are born with simple manipulation capabilities such as reflexes to perceived stimuli. Initial discoveries by babies are accidental until they become coordinated and curious enough to actively investigate their ...
An Analysis of the Effect of Gaussian Error in Object Recognition
(1994-02-01)
Object recognition is complicated by clutter, occlusion, and sensor error. Since pose hypotheses are based on image feature locations, these effects can lead to false negatives and positives. In a typical recognition ...
Teaching an Old Robot New Tricks: Learning Novel Tasks via Interaction with People and Things
(2003-06-20)
As AI has begun to reach out beyond its symbolic, objectivist roots into the embodied, experientialist realm, many projects are exploring different aspects of creating machines which interact with and respond to the world ...
Stereo-Based Head Pose Tracking Using Iterative Closest Point and Normal Flow Constraint
(2003-05-01)
In this text, we present two stereo-based head tracking techniques along with a fast 3D model acquisition system. The first tracking technique is a robust implementation of stereo-based head tracking designed for ...
Compact Representations for Fast Nonrigid Registration of Medical Images
(2003-07-04)
We develop efficient techniques for the non-rigid registration of medical images by using representations that adapt to the anatomy found in such images. Images of anatomical structures typically have uniform intensity ...