A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose

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

tracking of agile motion. Notwithstanding the use of stochastic methods, the algorithm runs in near real-time. Contents 1 Tracking curves in clutter 2 2 Discrete-time propagation of state density 3 3 Factored sampling 6 4 The Condensation algorithm 8 5 Stochastic dynamical models for curve motion 10 6

A comprehensive survey of computer vision-based human motion capture literature from the past two decades is presented. The focus is on a general overview based on a taxonomy of system functionalities, broken down into four processes: initialization, tracking, pose estimation, and recognition. Each

We present an unsupervised technique for visual learning which is based on density estimation in high-dimensional spaces using an eigenspace decomposition. Two types of density estimates are derived for modeling the training data: a multivariate Gaussian (for unimodal distributions) and a Mixture

mystery. Electron microscopy has contributed to our understanding of ribosome structure ever since the ribosome was discovered. In the last few years, three-dimensional (3D) electron microscopic images of the ribosome have been produced at resolutions sufficiently high to visualize many of the proteins

Abstruct- A method for rapid visual recognition of personal identity is described, based on the failure of a statistical test of independence. The most unique phenotypic feature visible in a person’s face is the detailed texture of each eye’s iris: An estimate of its statistical complexity in a

arising from the input data and the interpolation by mapping weather station density, elevation bias in the weather stations, and elevation variation within grid cells and through data partitioning and cross validation. Elevation bias tended to be negative (stations lower than expected) at high latitudes

. In Proc. European Conf. Computer Vision, 1996, pp. 343--356, Cambridge, UK The problem of tracking curves in dense visual clutter is a challenging one. Trackers based on Kalman filters are of limited use; because they are based on Gaussian densities which are unimodal, they cannot represent

Planning under uncertainty is a central problem in the study of automated sequential decision making, and has been addressed by researchers in many different fields, including AI planning, decision analysis, operations research, control theory and economics. While the assumptions