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We developed an automated system for registering computed tomography (CT) images of the chest temporally. Our system detects anatomical landmarks, in particular, the trachea, sternum and spine, using an attenuation-based template matching approach. It computes the optimal rigid-body transformation that aligns the corresponding landmarks in two CT scans of(More)
We describe an eecient method for localizing a mobile robot in an environment with landmarks. We assume that the robot can identify these landmarks and measure their bearings relative to each other. Given such noisy input, the algorithm estimates the robot's position and orientation with respect to the map of the environment. The algorithm makes eecient use(More)
The "Camera Mouse" system has been developed to provide computer access for people with severe disabilities. The system tracks the computer user's movements with a video camera and translates them into the movements of the mouse pointer on the screen. Body features such as the tip of the user's nose or finger can be tracked. The visual tracking algorithm is(More)
—In the cases of paralysis so severe that a person's ability to control movement is limited to the muscles around the eyes, eye movements or blinks are the only way for the person to communicate. Interfaces that assist in such communication are often intrusive, require special hardware, or rely on active infrared illumination. A nonintrusive communication(More)
A real-time vision system has been developed that analyzes color videos taken from a forward-looking video camera in a car driving on a highway. The system uses a combination of color, edge, and motion information to recognize and track the road boundaries, lane markings and other vehicles on the road. Cars are recognized by matching templates that are(More)
This paper proposes novel algorithms that use network-flow and set-cover techniques to perform occlusion reasoning for a large number of small, moving objects in single or multiple views. We designed a track-linking framework for reasoning about short-term and long-term occlusions. We introduce a two-stage network-flow process to automatically construct a "(More)
We present a novel framework for multiple object tracking in which the problems of object detection and data association are expressed by a single objective function. The framework follows the Lagrange dual decomposition strategy , taking advantage of the often complementary nature of the two subproblems. Our coupling formulation avoids the problem of error(More)
The problem of recognizing objects subject to affine transformation in images is examined from a physical perspective using the theory of statistical estimation. Focusing first on objects that occlude zero-mean scenes with additive noise, we derive the Cramer-Rao lower bound on the mean-square error in an estimate of the six-dimensional parameter vector(More)
A pulmonary fissure is a boundary between the lobes in the lungs. Its segmentation is of clinical interest as it facilitates the assessment of lung disease on a lobar level. This paper describes a new approach for segmenting the major fissures in both lungs on thin-section computed tomography (CT). An image transformation called "ridge map" is proposed for(More)