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Optimization of Series Expressions: Part II: Overview of the Theory and Implementation
(1989-01-01)
The benefits of programming in a functional style are well known. In particular, algorithms that are expressed as compositions of functions operating on series/vectors/streams of data elements are much easier to ...
Parallel and Deterministic Algorithms for MRFs: Surface Reconstruction and Integration
(1989-05-01)
In recent years many researchers have investigated the use of Markov random fields (MRFs) for computer vision. The computational complexity of the implementation has been a drawback of MRFs. In this paper we derive ...
Height and Gradient from Shading
(1989-05-01)
The method described here for recovering the shape of a surface from a shaded image can deal with complex, wrinkled surfaces. Integrability can be enforced easily because both surface height and gradient are represented. ...
The Combinatorics of Heuristic Search Termination for Object Recognition in Cluttered Environments
(1989-05-01)
Many recognition systems use constrained search to locate objects in cluttered environments. Earlier analysis showed that the expected search is quadratic in the number of model and data features, if all the data comes ...
On the Verification of Hypothesized Matches in Model-Based Recognition
(1989-05-01)
In model-based recognition, ad hoc techniques are used to decide if a match of data to model is correct. Generally an empirically determined threshold is placed on the fraction of model features that must be matched. ...
Design Considerations for an Earth-Based Flexible Robotic System
(1989-03-01)
This paper provides insights into the problems of designing a robot with joint and link flexibility. The relationship between the deflection of the robot under gravity is correlated with the fundamental frequency of ...
Relative Orientation
(1987-09-01)
Before corresponding points in images taken with two cameras can be used to recover distances to objects in a scene, one has to determine the position and orientation of one camera relative to the other. This is the ...
On the Recognition of Parameterized Objects
(1987-10-01)
Determining the identity and pose of occluded objects from noisy data is a critical step in interacting intelligently with an unstructured environment. Previous work has shown that local measurements of position and ...
On the Recognition of Curved Objects
(1987-07-01)
Determining the identity and pose of occluded objects from noisy data is a critical part of a system's intelligent interaction with an unstructured environment. Previous work has shown that local measurements of the ...
Abstraction in Numerical Methods
(1987-10-01)
We illustrate how the liberal use of high-order procedural abstractions and infinite streams helps us to express some of the vocabulary and methods of numerical analysis. We develop a software toolbox encapsulating the ...