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An algorithm is proposed for skeletonization of 3-D images. The criterion to preserve connectivity is given in two versions: global and local. The latter allows local decisions in the erosion process. A table of the decisions for all possible configurations is given in this paper. The algorithm using this table can be directly implemented both on general(More)
This paper describes the scoring policy used by the agents of our simulation robot soccer team. In a given situation this policy enables an agent to determine the best shooting point in the goal, together with an associated probability of scoring when the ball is shot to this point. The ball motion can be regarded as a geometrically constrained(More)
— A novel robust visual-odometry technique, called EM-SE(3) is presented and compared against using the random sample consensus (RANSAC) for ego-motion estimation. In this contribution, stereo-vision is used to generate a number of minimal-set motion hypothesis. By using EM-SE(3), which involves expectation maximization on a local linearization of the(More)
Environmental monitoring and emergency response projects in urban-industrial areas increasingly rely on efficient collaboration between experts in control rooms and at incident locations, and citizens who live or work in the area. In the video accompanying this abstract we present a system that uses distributed sensor technology, Bayesian decision tools,(More)
The robot navigation task presented in this paper is to drive through the center of a corridor, based on a sequence of images from an on-board camera. Our measurements of the system state, the distance to the wall and orientation of the wall, are derived from the optic ow. Whereas the structure of the environment is usually computed from the spatial(More)