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Routines
(1985-05-01)
Regularities in the word give rise to regularities in the way which we deal with the world. That is to say, we fall into routines. I have been studying the phenomena of routinization, the process by which institutionalized ...
Planning of Minimum-Time Trajectories for Robot Arms
(1984-11-01)
The minimum-time for a robot arm has been a longstanding and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling ...
The Description of Large Systems
(1984-09-01)
In this paper we discuss the problems associated with the description and manipulation of large systems when their sources are not maintained as single fields. We show why and how tools that address these issues, such ...
Toward a Surface Primal Sketch
(1985-04-01)
This paper reports progress toward the development of a representation of significant surface changes in dense depth maps. We call the representation the Surface Primal Sketch by analogy with representation of intensity ...
Computational Experiments with a Feature Based Stereo Algorithm
(1984-01-01)
Computational models of the human stereo system can provide insight into general information processing constraints that apply to any stereo system, either artificial or biological. In 1977, Marr and Poggio proposed ...
On Edge Detection
(1984-08-01)
Edge detection is the process that attempts to characterize the intensity changes in the image in terms of the physical processes that have originated them. A critical, intermediate goal of edge detection is the detection ...
The Find-Path Problem in the Plane
(1984-02-01)
This paper presents a fast heuristic algorithm for planning collision-free paths of a moving robot in a cluttered planar workspace. The algorithm is based on describing the free space between the obstacles as a network ...
Multi-Level Reconstruction of Visual Surfaces: Variational Principles and Finite Element Representations
(1982-04-01)
Computational modules early in the human vision system typically generate sparse information about the shapes of visible surfaces in the scene. Moreover, visual processes such as stereopsis can provide such information at ...
Nature Abhors an Empty Vacuum
(1981-08-01)
Imagine a crystalline world of tiny, discrete "cells", each knowing only what its nearest neighbors do. Each volume of space contains only a finite amount of information, because space and time come in discrete units. ...
Reasoning Utility Package User's Manual, Version One
(1982-04-01)
RUP (Reasoning Utility Package) is a collection of procedures for performing various computations relevant to automated reasoning. RUP contains a truth maintenance system (TMS) which can be used to perform simple ...