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This report addresses the problem of achieving fault tolerant cooperation within small-to medium-sized teams of heterogeneous mobile robots. I describe a software architecture I have d e v eloped, called ALLIANCE, that facilitates robust, fault tolerant cooperative control, and examine numerous issues in cooperative team design. ALLIANCE is a fully(More)
This thesis presents a learning based approach for detecting classes of objects and patterns with variable image appearance but highly predictable image boundaries. It consists of two parts. In part one, we i n troduce our object and pattern detection approach using a concrete human face detection example. The approach rst builds a distribution-based model(More)
This thesis describes a representation of gait appearance for the purpose of person identification and classification. This gait representation is based on simple localized image features such as moments extracted from orthogonal view video silhouettes of human walking motion. A suite of time-integration methods, spanning a range of coarseness of time(More)
This thesis addresses the general problem of how to find globally consistent and accurate estimates of multiple-view camera geometry from uncalibrated imagery of an extended scene. After decades of study, the classic problem of recovering camera motion from image correspondences remains an active area of research. This is due to the practical difficulties(More)
  • Jonathan D Baker, Ric R Morgenthaler, Ma Acý, T '" 'e, Jeff Shapiro, Alan Willsky +11 others
  • 2007
Model based recognition systems are designed to recognize the occurrence and pose of a known object in an input image that could contain zero or more occurrences of the object. A multiresolution statistical estimation approach to object recognition and pose estimation has been developed which incorporates models for the effects of background clutter,(More)
Segmentation of medical imagery is a challenging problem due to the complexity o f the images, as well as to the absence of models of the anatomy that fully capture the possible deformations in each structure. Brain tissue is a particularly complex structure, and its segmentation is an important step for studies in temporal change detection of morphology, a(More)
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