Computer vision is embracing a new research focus in which the aim is to develop visual skills for robots that allow them to interact with a dynamic, realistic environment. To achieve this aim, new kinds of vision algorithms need to be developed which run in real time and subserve the robot

We consider the problem of embedding one signal (e.g., a digital watermark), within another "host" signal to form a third, "composite" signal. The embedding is designed to achieve efficient tradeoffs among the three conflicting goals of maximizing information-embedding rate

This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning

to the minimization strategy. We enumerate and classify many of these variants, and evaluate their effect on the speed with which the correct alignment is reached. In order to improve convergence for nearly-flat meshes with small features, such as inscribed surfaces, we introduce a new variant based on uniform

sequence have been identified and localized. To build fully automated systems that analyze the information contained in face images, robust and efficient face detection algorithms are required. Given a single image, the goal of face detection is to identify all image regions which contain a face regardless

We define a new image feature called the color correlogram and use it for image indexing and comparison. This feature distills the spatial correlation of colors, and is both effective and inexpensive for content-based image retrieval. The correlogramrobustly tolerates large changesin appearance

A novel scene reconstruction technique is presented, different from previous approaches in its ability to cope with large changes in visibility and its modeling of intrinsic scene color and texture information. The method avoids image correspondence problems by working in a discretized scene space

The problem of combining preferences arises in several applications, such as combining the results of different search engines. This work describes an efficient algorithm for combining multiple preferences. We first give a formal framework for the problem. We then describe and analyze a new

We present a novel statistical and variational approach to image segmentation based on a new algorithm named region competition. This algorithm is derived by minimizing a generalized Bayes/MDL criterion using the variational principle. The algorithm is guaranteed to converge to a local minimum

In the QBIC (Query By Image Content) project we are studying methods to query large on-line image databases using the images' content as the basis of the queries. Examples of the content we use include color, texture, and shape of image objects and regions. Potential applications include