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Recognizing 3D Object Using Photometric Invariant
(1995-04-22)
In this paper we describe a new efficient algorithm for recognizing 3D objects by combining photometric and geometric invariants. Some photometric properties are derived, that are invariant to the changes of illumination ...
An Algorithm for Bootstrapping Communications
(2001-08-13)
I present an algorithm which allows two agents to generate a simple language based only on observations of a shared environment. Vocabulary and roles for the language are learned in linear time. Communication is robust and ...
Programmable Self-Assembly: Constructing Global Shape using Biologically-inspire
(2001-06-01)
In this thesis I present a language for instructing a sheet of identically-programmed, flexible, autonomous agents (``cells'') to assemble themselves into a predetermined global shape, using local interactions. The ...
Modeling, Estimation, and Control of Robot-Soil Interactions
(2001-09-01)
This thesis presents the development of hardware, theory, and experimental methods to enable a robotic manipulator arm to interact with soils and estimate soil properties from interaction forces. Unlike the majority of ...
2D-3D Rigid-Body Registration of X-Ray Fluoroscopy and CT Images
(2001-08-01)
The registration of pre-operative volumetric datasets to intra- operative two-dimensional images provides an improved way of verifying patient position and medical instrument loca- tion. In applications from orthopedics ...
Intelligence by Design: Principles of Modularity and Coordination for Engineerin
(2001-09-01)
All intelligence relies on search --- for example, the search for an intelligent agent's next action. Search is only likely to succeed in resource-bounded agents if they have already been biased towards finding the right ...
Feature Point Detection and Curve Approximation for Early Processing of Freehand Sketches
(2001-05-01)
Freehand sketching is both a natural and crucial part of design, yet is unsupported by current design automation software. We are working to combine the flexibility and ease of use of paper and pencil with the processing ...
Generating Communications Systems Through Shared Context
(2002-01-01)
In a distributed model of intelligence, peer components need to communicate with one another. I present a system which enables two agents connected by a thick twisted bundle of wires to bootstrap a simple communication ...
Probabilistic Independence Networks for Hidden Markov Probability Models
(1996-03-13)
Graphical techniques for modeling the dependencies of randomvariables have been explored in a variety of different areas includingstatistics, statistical physics, artificial intelligence, speech recognition, image ...
Factorial Hidden Markov Models
(1996-02-09)
We present a framework for learning in hidden Markov models with distributed state representations. Within this framework, we derive a learning algorithm based on the Expectation--Maximization (EM) procedure for maximum ...