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Relative Affine Structure: Canonical Model for 3D from 2D Geometry and Applications
(1994-06-01)
We propose an affine framework for perspective views, captured by a single extremely simple equation based on a viewer-centered invariant we call "relative affine structure". Via a number of corollaries of our main ...
Partial Evaluation for Scientific Computing: The Supercomputer Toolkit Experience
(1994-05-01)
We describe the key role played by partial evaluation in the Supercomputer Toolkit, a parallel computing system for scientific applications that effectively exploits the vast amount of parallelism exposed by partial ...
Viewer-Centered Object Recognition in Monkeys
(1994-04-01)
How does the brain recognize three-dimensional objects? We trained monkeys to recognize computer rendered objects presented from an arbitrarily chosen training view, and subsequently tested their ability to generalize ...
View-Based Models of 3D Object Recognition and Class-Specific Invariances
(1994-04-01)
This paper describes the main features of a view-based model of object recognition. The model tries to capture general properties to be expected in a biological architecture for object recognition. The basic module is a ...
Piecemeal Learning of an Unknown Environment
(1994-03-01)
We introduce a new learning problem: learning a graph by piecemeal search, in which the learner must return every so often to its starting point (for refueling, say). We present two linear-time piecemeal-search ...
Towards an Example-Based Image Compression Architecture for Video-Conferencing
(1994-06-01)
This paper consists of two major parts. First, we present the outline of a simple approach to very-low bandwidth video-conferencing system relying on an example-based hierarchical image compression scheme. In particular, ...
Estimation of Pose and Illuminant Direction for Face Processing
(1994-11-01)
In this paper three problems related to the analysis of facial images are addressed: the illuminant direction, the compensation of illumination effects and, finally, the recovery of the pose of the face, restricted to ...
Towards Intelligent Structures: Active Control of Buckling
(1994-05-01)
The buckling of compressively-loaded members is one of the most important factors limiting the overall strength and stability of a structure. I have developed novel techniques for using active control to wiggle a ...
Heterogeneous Multi-Robot Cooperation
(1994-02-01)
This report addresses the problem of achieving cooperation within small- to medium- sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates ...
Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes
(1994-01-01)
This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to ...