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Herbert: A Second Generation Mobile Robot
(1988-01-01)
In mobile robot research we believe the structure of the platform, its capabilities, the choice of sensors, their capabilities, and the choice of processors, both onboard and offboard, greatly constrains the direction of ...
The Combinatorics of Object Recognition in Cluttered Environments Using Constrained Search
(1988-02-01)
When clustering techniques such as the Hough transform are used to isolate likely subspaces of the search space, empirical performance in cluttered scenes improves considerably. In this paper we establish formal bounds ...
Structural Saliency: The Detection of Globally Salient Structures Using a Locally Connected Network
(1988-07-01)
Certain salient structures in images attract our immediate attention without requiring a systematic scan. We present a method for computing saliency by a simple iterative scheme, using a uniform network of locally ...
Pattern-Directed Invocation with Changing Equations
(1988-05-01)
The interaction of pattern-directed invocation with equality in an automated reasoning system gives rise to a completeness problem. In such systems, a demon needs to be invoked not only when its pattern exactly matches ...
The Alignment of Objects with Smooth Surfaces
(1988-07-01)
This paper examines the recognition of rigid objects bounded by smooth surfaces using an alignment approach. The projected image of such an object changes during rotation in a manner that is difficult to predict. A ...
What Are Plans For?
(1989-10-01)
What plans are like depends on how they're used. We contrast two views of plan use. On the plan-as-program-view, plan use is the execution of an effective procedure. On the plan-as-communication view, plan use is like ...
Image Chunking: Defining Spatial Building Blocks for Scene Analysis
(1987-08-01)
Rapid judgments about the properties and spatial relations of objects are the crux of visually guided interaction with the world. Vision begins, however, with essentially pointwise representations of the scene, such ...
Planning and Teaching Compliant Motion Strategies
(1987-01-01)
This thesis presents a new high level robot programming system. The programming system can be used to construct strategies consisting of compliant motions, in which a moving robot slides along obstacles in its ...
ARLO: Another Representation Language Offer
(1986-10-01)
This paper describes ARLO, a representation language loosely modelled after Greiner and Lenant's RLL-1. ARLO is a structure-based representation language for describing structure-based representation languages, including ...
Automated Program Recognition
(1987-02-01)
The key to understanding a program is recognizing familiar algorithmic fragments and data structures in it. Automating this recognition process will make it easier to perform many tasks which require program understanding, ...