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  • John F. Canny
  • IEEE Transactions on Pattern Analysis and Machine…
  • 1986
This paper describes a computational approach to edge detection. The success of the approach depends on the definition of a comprehensive set of goals for the computation of edge points. These goals must be precise enough to delimit the desired behavior of the detector while making minimal assumptions about the form of the solution. We define detection and(More)
We give a PSPACE algorithm for determining the signs of multivariate polynomials at the common zeros of a system of polynomial equations. One of the consequences of this result is that the “Generalized Movers' Problem” in robotics drops from EXPTIME into PSPACE, and is therefore PSPACE-complete by a previous hardness result [Rei]. We also show(More)
In this paper we will address the problem of planning optimal grasps. Two general optimality criteria, that consider the total finger force and the maximum finger force will be introduced and discussed. Moreover their formalization, using various metrics on a space of generalized forces, will be detailed. The geometric interpretation of the two criteria(More)
We present new techniques for establishing lower bounds in robot motion planning problems. Our scheme is based on path encoding and uses homotopy equivalence classes of paths to encode state. We first apply the method to the shortest path problem in 3 dimensions. The problem is to find the shortest path under an Lp metric (e.g. a euclidean metric) between(More)
Server-based collaborative filtering systems have been very successful in e-commerce and in direct recommendation applications. In future, they have many potential applications in ubiquitous computing settings. But today’s schemes have problems such as loss of privacy, favoring retail monopolies, and with hampering diffusion of innovations. We propose an(More)
Collaborative filtering (CF) is valuable in e-commerce, and for direct recommendations for music, movies, news etc. But today's systems have several disadvantages, including privacy risks. As we move toward ubiquitous computing, there is a great potential for individuals to share all kinds of information about places and things to do, see and buy, but the(More)
At the intersection of robotics, computational geometry, and manufacturing engineering, we have identified a collection of research problems with near-term industrial applications. The common thread is robot systems with Reduced Intricacy in Sensing and Control (RISC ), such as light beam sensors and parallel-jaw grippers. We conjecture that such systems,(More)
We consider the problem of nding optimum force closure grasps of two and three-dimensional objects. Our focus is on grasps which are useful in practice, namely grasps with a small number of ngers, with friction at the contacts. Assuming frictional contact and rounded nger tips|very mild assumptions in practice|we give new upper (and lower) bounds on the(More)