Here's a LISP library of mathematical functions that calculate hyperbolic and inverse hyperbolic functions. Bessel functions, elliptic integrals, the gamma and beta functions, and the incomplete gamma and beta functions. ...

One of the best definitions of early vision is that it is inverse optics --- a set of computational problems that both machines and biological organisms have to solve. While in classical optics the problem is to determine ...

This paper describes a system which locates and grasps doughnut shaped parts from a pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used to make surface ...

In order to stably grasp objects without using object models, tactile feedback from the fingers is sometimes necessary. This feedback can be used to adjust grasping forces to prevent a part form slipping from a hand. ...

This study addresses the question of how simple networks can account for a variety of phenomena associated with the shift of a specialized processing focus across the visual scene. We address in particular aspects of ...

The problem of recognizing what objects are where in the workspace of a robot can be cast as one of searching for a consistent matching between sensory data elements and equivalent model elements. In principle, this ...

This is a primer on extended Gaussian Images. Extended Gaussian Images are useful for representing the shapes of surfaces. They can be computed easily from: 1. Needle maps obtained using photometric stereo, or 2. Depth ...

We describe a system that reasons from first principles, i.e., using knowledge of structure and behavior. The system has been implemented and tested on several examples in the domain of troubleshooting digital electronic ...

This paper discusses how local measurements of three-dimensional positions and surface normals (recorded by a set of tactile sensors, or by three-dimensional range sensors), may be used to identify and locate objects, ...

Successful fusion of random-line stereograms with breaks in the vernier acuity range has been previously interpreted to suggest that the interpolation process underlying hyperacuity is parallel and preliminary to ...

Given a polyhedral environment, a technique is presented for hypothesizing a channel volume through the free space containing a class of successful collision-free paths. A set of geometric constructions between obstacle ...

The organization of movement in the changing retinal image provides a valuable source of information for analyzing the environment in terms of objects, their motion in space and their three-dimensional structure. A ...

A complete theory of object recognition is an impossibility ??t simply because of the multiplicity of visual cues we exploit in elegant coordination to identify an object, but primarily because recognition involves ...

We prove that the scale map of the zero-crossings of almost all signals filtered by the second derivative of a gaussian of variable size determines the signal uniquely, up to a constant scaling and a harmonic function. ...

Present day computer systems cannot implement much of the work carried out in organizations such as: planning, decision making, analysis, and dealing with unanticipated situations. Such organizational activities have ...

We investigate the relations between the structure of the image and events in the geometry of the underlying surface. We introduce some elementary differential geometry and use it to define a coordinate system on the ...

An efficient algorithm is presented for the calculation of the inverse kinematic accelerations for a 6 degree-of-freedom manipulator with a spherical wrist. The inverse kinematic calculation is shown to work synergistically ...

Understanding a text exactly in the way that the Text Producer meant the text to be understood is highly unlikely unless the text interpretation process is constrained. Specific understanding-directing criteria are ...

An extended Gaussian image (EGI) is constructed by mapping the surface normals of an object onto the Gussian sphere. The attitude of an object is greatly constrained by the global distribution of EGI mass over the ...

The electrical properties of a cortical (spiny) pyramidal cell were analyzed on the basis of passive cable theory from measurements made on histological material (Koch, Poggio & Torre 1982). The basis of this analysis ...