This paper presents a detailed error analysis of geometric hashing for 2D object recogition. We analytically derive the probability of false positives and negatives as a function of the number of model and image, ...

High order multistep methods, run at constant stepsize, are very effective for integrating the Newtonian solar system for extended periods of time. I have studied the stability and error growth of these methods when ...

Many object recognition systems use a small number of pairings of data and model features to compute the 3D transformation from a model coordinate frame into the sensor coordinate system. With perfect image data, these ...

We describe a method to solve the stereo correspondence using controlled eye (or camera) movements. These eye movements essentially supply additional image frames which can be used to constrain the stereo matching. ...

A program to control a robot manipulator for industrial assembly operations must take into account possible errors in parts placement and tolerances of the parts themselves. Previous approaches to this problem have been ...