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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 ...
Summarizing Qualitative Behavior from Measurements of NonlinearsCircuits
(1989-05-01)
This report describes a program which automatically characterizes the behavior of any driven, nonlinear, electrical circuit. To do this, the program autonomously selects interesting input parameters, drives the circuit, ...
A Modern Differential Geometric Approach to Shape from Shading
(1989-06-01)
How the visual system extracts shape information from a single grey-level image can be approached by examining how the information about shape is contained in the image. This technical report considers the characteristic ...
Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment
(1989-03-01)
The goal of this work is to navigate through an office environmentsusing only visual information gathered from four cameras placed onboard a mobile robot. The method is insensitive to physical changes within the room ...
Using Special-Purpose Computing to Examine Chaotic Behavior in Nonlinear Mappings
(1989-09-01)
Studying chaotic behavior in nonlinear systems requires numerous computations in order to simulate the behavior of such systems. The Standard Map Machine was designed and implemented as a special computer for performing ...
Toward a Theory of Representation Design
(1989-05-01)
This research is concerned with designing representations for analytical reasoning problems (of the sort found on the GRE and LSAT). These problems test the ability to draw logical conclusions. A computer program was ...
A Robot that Walks: Emergent Behaviors from a Carefully Evolved Network
(1989-02-01)
Most animals have significant behavioral expertise built in without having to explicitly learn it all from scratch. This expertise is a product of evolution of the organism; it can be viewed as a very long term form ...