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Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System
(1984-08-01)
This paper describes a system which locates and grasps doughnut shaped parts from a pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used to make surface ...
Extended Gaussian Images
(1983-07-01)
This is a primer on extended Gaussian Images. Extended Gaussian Images are useful for representing the shapes of surfaces. They can be computed easily from: 1. Needle maps obtained using photometric stereo, or 2. Depth ...
Hidden Clues in Random Line Stereograms
(1983-08-01)
Successful fusion of random-line stereograms with breaks in the vernier acuity range has been previously interpreted to suggest that the interpolation process underlying hyperacuity is parallel and preliminary to ...
Circumscribing Circumscription: A Guide to Relevance and Incompleteness
(1985-10-01)
Intelligent agents in the physical world must work from incomplete information due to partial knowledge and limited resources. An agent copes with these limitations by applying rules of conjecture to make reasonable ...
The Optical Flow of Planar Surfaces
(1985-12-01)
The human visual system can recover the 3D shape of moving objects on the basis of motion information alone. Computational studies of this capacity have considered primarily non-planar rigid objects. With respect to ...
Concurrent Programming Using Actors: Exploiting Large-Scale Parallelism
(1985-10-01)
We argue that the ability to model shared objects with changing local states, dynamic reconfigurability, and inherent parallelism are desirable properties of any model of concurrency. The actor model addresses these ...
Exploiting Sequential Phonetic Constraints in Recognizing Spoken Words
(1985-10-01)
Machine recognition of spoken language requires developing more robust recognition algorithms. The current paper extends the work of Shipman and Zue by investigating the power of partial phonetic descriptions. First ...
A Robust Layered Control System for a Mobile Robot
(1985-09-01)
We describe a new architecture for controlling mobile robots. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules which communicate ...
The Synthesis of Force-Closure Grasps
(1985-09-01)
This paper addresses the problem of synthesizing planar grasps that have force closure. A grasp on an object is a force closure grasp if and only if we can exert, through the set of contacts, arbitrary force and moment on ...
Direct Passive Navigation: Analytical Solution for Planes
(1985-08-01)
In this paper, we derive a closed form solution for recovering the motion of an observer relative to a planar surface directly from image brightness derivatives. We do not compute the optical flow as an intermediate ...