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Safe Distributed Coordination of Heterogeneous Robots through Dynamic Simple Temporal Networks
(2003-05-30)
Research on autonomous intelligent systems has focused on how robots can robustly carry out missions in uncertain and harsh environments with very little or no human intervention. Robotic execution languages such as RAPs, ...
From First Contact to Close Encounters: A Developmentally Deep Perceptual System for a Humanoid Robot
(2003-06-01)
This thesis presents a perceptual system for a humanoid robot that integrates abilities such as object localization and recognition with the deeper developmental machinery required to forge those competences out of raw ...
A Statistical Image-Based Shape Model for Visual Hull Reconstruction and 3D Structure Inference
(2003-05-22)
We present a statistical image-based shape + structure model for Bayesian visual hull reconstruction and 3D structure inference. The 3D shape of a class of objects is represented by sets of contours from silhouette ...
Online Learning of Non-stationary Sequences
(2003-06-12)
We consider an online learning scenario in which the learner can make predictions on the basis of a fixed set of experts. The performance of each expert may change over time in a manner unknown to the learner. We formulate ...
Segmentation and Alignment of Speech and Sketching in a Design Environment
(2003-02-01)
Sketches are commonly used in the early stages of design. Our previous system allows users to sketch mechanical systems that the computer interprets. However, some parts of the mechanical system might be too hard or too ...
Gait Analysis for Classification
(2003-06-26)
This thesis describes a representation of gait appearance for the purpose of person identification and classification. This gait representation is based on simple localized image features such as moments extracted from ...
Investigating shape representation in area V4 with HMAX: Orientation and Grating selectivities
(2003-09-08)
The question of how shape is represented is of central interest to understanding visual processing in cortex. While tuning properties of the cells in early part of the ventral visual stream, thought to be responsible for ...
Direction Estimation of Pedestrian from Images
(2003-08-27)
The capability of estimating the walking direction of people would be useful in many applications such as those involving autonomous cars and robots. We introduce an approach for estimating the walking direction of people ...
Component based recognition of objects in an office environment
(2003-11-28)
We present a component-based approach for recognizing objects under large pose changes. From a set of training images of a given object we extract a large number of components which are clustered based on the similarity ...
Learning object segmentation from video data
(2003-09-08)
This memo describes the initial results of a project to create aself-supervised algorithm for learning object segmentation from videodata. Developmental psychology and computational experience havedemonstrated that the ...