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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)
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)
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)
We propose a randomized ensemble algorithm to model the time-varying appearance of an object for visual tracking. In contrast with previous online methods for updating classifier ensembles in tracking-by-detection, the weight vector that combines weak classifiers is treated as a random variable and the posterior distribution for the weight vector is(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)
Two video-based human-computer interaction tools are introduced that can activate a binary switch and issue a selection command. " BlinkLink, " as the first tool is called, automatically detects a user's eye blinks and accurately measures their durations. The system is intended to provide an alternate input modality to allow people with severe disabilities(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)