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261,454
Robust Monte Carlo Localization for Mobile Robots
, 2001
"... Mobile robot localization is the problem of determining a robot's pose from sensor data. This article presents a family of probabilistic localization algorithms known as Monte Carlo Localization (MCL). MCL algorithms represent a robot's belief by a set of weighted hypotheses (samples), whi ..."
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Cited by 826 (88 self)
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), which approximate the posterior under a common Bayesian formulation of the localization problem. Building on the basic MCL algorithm, this article develops a more robust algorithm called MixtureMCL, which integrates two complimentary ways of generating samples in the estimation. To apply this algorithm
Understanding Normal and Impaired Word Reading: Computational Principles in QuasiRegular Domains
 PSYCHOLOGICAL REVIEW
, 1996
"... We develop a connectionist approach to processing in quasiregular domains, as exemplified by English word reading. A consideration of the shortcomings of a previous implementation (Seidenberg & McClelland, 1989, Psych. Rev.) in reading nonwords leads to the development of orthographic and phono ..."
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Cited by 583 (94 self)
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We develop a connectionist approach to processing in quasiregular domains, as exemplified by English word reading. A consideration of the shortcomings of a previous implementation (Seidenberg & McClelland, 1989, Psych. Rev.) in reading nonwords leads to the development of orthographic
Coordination of Groups of Mobile Autonomous Agents Using Nearest Neighbor Rules
, 2002
"... In a recent Physical Review Letters paper, Vicsek et. al. propose a simple but compelling discretetime model of n autonomous agents fi.e., points or particlesg all moving in the plane with the same speed but with dierent headings. Each agent's heading is updated using a local rule based on ..."
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Cited by 1245 (60 self)
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In a recent Physical Review Letters paper, Vicsek et. al. propose a simple but compelling discretetime model of n autonomous agents fi.e., points or particlesg all moving in the plane with the same speed but with dierent headings. Each agent's heading is updated using a local rule based
Bayes Factors
, 1995
"... In a 1935 paper, and in his book Theory of Probability, Jeffreys developed a methodology for quantifying the evidence in favor of a scientific theory. The centerpiece was a number, now called the Bayes factor, which is the posterior odds of the null hypothesis when the prior probability on the null ..."
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Cited by 1766 (74 self)
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In a 1935 paper, and in his book Theory of Probability, Jeffreys developed a methodology for quantifying the evidence in favor of a scientific theory. The centerpiece was a number, now called the Bayes factor, which is the posterior odds of the null hypothesis when the prior probability on the null
Factor Graphs and the SumProduct Algorithm
 IEEE TRANSACTIONS ON INFORMATION THEORY
, 1998
"... A factor graph is a bipartite graph that expresses how a "global" function of many variables factors into a product of "local" functions. Factor graphs subsume many other graphical models including Bayesian networks, Markov random fields, and Tanner graphs. Following one simple c ..."
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Cited by 1787 (72 self)
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computational rule, the sumproduct algorithm operates in factor graphs to computeeither exactly or approximatelyvarious marginal functions by distributed messagepassing in the graph. A wide variety of algorithms developed in artificial intelligence, signal processing, and digital communications can
Determining the Number of Factors in Approximate Factor Models
, 2000
"... In this paper we develop some statistical theory for factor models of large dimensions. The focus is the determination of the number of factors, which is an unresolved issue in the rapidly growing literature on multifactor models. We propose a panel Cp criterion and show that the number of factors c ..."
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Cited by 538 (29 self)
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In this paper we develop some statistical theory for factor models of large dimensions. The focus is the determination of the number of factors, which is an unresolved issue in the rapidly growing literature on multifactor models. We propose a panel Cp criterion and show that the number of factors
EigenTracking: Robust Matching and Tracking of Articulated Objects Using a ViewBased Representation
 International Journal of Computer Vision
, 1998
"... This paper describes an approach for tracking rigid and articulated objects using a viewbased representation. The approach builds on and extends work on eigenspace representations, robust estimation techniques, and parameterized optical flow estimation. First, we note that the leastsquares image r ..."
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Cited by 656 (16 self)
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This paper describes an approach for tracking rigid and articulated objects using a viewbased representation. The approach builds on and extends work on eigenspace representations, robust estimation techniques, and parameterized optical flow estimation. First, we note that the leastsquares image
Bundle Adjustment  A Modern Synthesis
 VISION ALGORITHMS: THEORY AND PRACTICE, LNCS
, 2000
"... This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics c ..."
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Cited by 555 (12 self)
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covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than
FAST VOLUME RENDERING USING A SHEARWARP FACTORIZATION OF THE VIEWING TRANSFORMATION
, 1995
"... Volume rendering is a technique for visualizing 3D arrays of sampled data. It has applications in areas such as medical imaging and scientific visualization, but its use has been limited by its high computational expense. Early implementations of volume rendering used bruteforce techniques that req ..."
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Cited by 541 (2 self)
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Volume rendering is a technique for visualizing 3D arrays of sampled data. It has applications in areas such as medical imaging and scientific visualization, but its use has been limited by its high computational expense. Early implementations of volume rendering used bruteforce techniques that require on the order of 100 seconds to render typical data sets on a workstation. Algorithms with optimizations that exploit coherence in the data have reduced rendering times to the range of ten seconds but are still not fast enough for interactive visualization applications. In this thesis we present a family of volume rendering algorithms that reduces rendering times to one second. First we present a scanlineorder volume rendering algorithm that exploits coherence in both the volume data and the image. We show that scanlineorder algorithms are fundamentally more efficient than commonlyused ray casting algorithms because the latter must perform analytic geometry calculations (e.g. intersecting rays with axisaligned boxes). The new scanlineorder algorithm simply streams through the volume and the image in storage order. We describe variants of the algorithm for both parallel and perspective projections and
LucasKanade 20 Years On: A Unifying Framework: Part 3
 International Journal of Computer Vision
, 2002
"... Since the LucasKanade algorithm was proposed in 1981 image alignment has become one of the most widely used techniques in computer vision. Applications range from optical flow, tracking, and layered motion, to mosaic construction, medical image registration, and face coding. Numerous algorithms hav ..."
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Cited by 698 (30 self)
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first consider linear appearance variation when the error function is the Euclidean L2 norm. We describe three different algorithms, the simultaneous, project out, and normalization inverse compositional algorithms, and empirically compare them. Afterwards we consider the combination of linear
Results 1  10
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