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An Approach to Automatic Robot Programming
(1985-04-01)
In this paper we propose an architecture for a new task-level system, which we call TWAIN. Task-level programming attempts to simplify the robot programming process but requiring that the user specify only goals for ...
Characterization of Joint-Interpolated Arm Movements
(1985-06-01)
Two possible sets of planning variables for human arm movement are point angles and hand position. Although one might expect these possibilities to be mutually exclusive, recently an apparently contradictory set of ...
Variable Precision Logic
(1985-08-01)
Variable precision logic is concerned with problems of reasoning with incomplete information and under time constraints. It offers mechanisms for handling trade-offs between the precision of inferences and the ...
Sensing Strategies for Disambiguating Among Multiple Objects in Known Poses
(1985-08-01)
The need for intelligent interaction of a robot with its environment frequently requires sensing of the environment. Further, the need for rapid execution requires that the interaction between sensing and action take ...
The Computational Complexity of Two-Level Morphology
(1985-11-01)
Morphological analysis requires knowledge of the stems, affixes, combnatory patterns, and spelling-change processes of a language. The computational difficulty of the task can be clarified by investigating the computational ...
Shape and Source from Shading
(1985-01-01)
Well-known methods for solving the shape-from-shading problem require knowledge of the reflectance map. Here we show how the shape-from-shading problem can be solved when the reflectance map is not available, but is ...
Direct Passive Navigation
(1985-02-01)
In this paper, we show how to recover 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 step. We derive a set of ...
Spotlight on Attention
(1985-04-01)
We review some recent psychophysical, psychological and anatomical data which highlight the important role of attention in visual information processing, and discuss the evidence for a serial spotlight of attention. ...
Probabilistic Solution of Inverse Problems
(1985-09-01)
In this thesis we study the general problem of reconstructing a function, defined on a finite lattice from a set of incomplete, noisy and/or ambiguous observations. The goal of this work is to demonstrate the generality ...
Learning Shape Descriptions: Generating and Generalizing Models of Visual Objects
(1985-09-01)
We present the results of an implemented system for learning structural prototypes from grey-scale images. We show how to divide an object into subparts and how to encode the properties of these subparts and the relations ...