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Safe Distributed Coordination of Heterogeneous Robots through Dynamic Simple Temporal Networks
(2003-05-30)
Research on autonomous intelligent systems has focused on how robots can robustly carry out missions in uncertain and harsh environments with very little or no human intervention. Robotic execution languages such as RAPs, ...
From First Contact to Close Encounters: A Developmentally Deep Perceptual System for a Humanoid Robot
(2003-06-01)
This thesis presents a perceptual system for a humanoid robot that integrates abilities such as object localization and recognition with the deeper developmental machinery required to forge those competences out of raw ...
A Statistical Image-Based Shape Model for Visual Hull Reconstruction and 3D Structure Inference
(2003-05-22)
We present a statistical image-based shape + structure model for Bayesian visual hull reconstruction and 3D structure inference. The 3D shape of a class of objects is represented by sets of contours from silhouette ...
Online Learning of Non-stationary Sequences
(2003-06-12)
We consider an online learning scenario in which the learner can make predictions on the basis of a fixed set of experts. The performance of each expert may change over time in a manner unknown to the learner. We formulate ...
Segmentation and Alignment of Speech and Sketching in a Design Environment
(2003-02-01)
Sketches are commonly used in the early stages of design. Our previous system allows users to sketch mechanical systems that the computer interprets. However, some parts of the mechanical system might be too hard or too ...
Gait Analysis for Classification
(2003-06-26)
This thesis describes a representation of gait appearance for the purpose of person identification and classification. This gait representation is based on simple localized image features such as moments extracted from ...
Sequential Optimal Recovery: A Paradigm for Active Learning
(1995-05-12)
In most classical frameworks for learning from examples, it is assumed that examples are randomly drawn and presented to the learner. In this paper, we consider the possibility of a more active learner who is allowed ...
Reciprocal Interactions Between Motion and Form Perception
(1995-04-21)
The processes underlying the perceptual analysis of visual form are believed to have minimal interaction with those subserving the perception of visual motion (Livingstone and Hubel, 1987; Victor and Conte, 1990). ...
Fast Object Recognition in Noisy Images Using Simulated Annealing
(1995-01-25)
A fast simulated annealing algorithm is developed for automatic object recognition. The normalized correlation coefficient is used as a measure of the match between a hypothesized object and an image. Templates are ...
How are Three-Deminsional Objects Represented in the Brain?
(1994-04-01)
We discuss a variety of object recognition experiments in which human subjects were presented with realistically rendered images of computer-generated three-dimensional objects, with tight control over stimulus shape, ...