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We present a perception system, called Artisan, that semi-automatically builds 3-D models of a robot's workspace. Range images are acquired with a scanning laser rangefinder and then processed, based on a systematic sensor characterization, to remove noise and artifacts. Complex 3-D objects represented as surface meshes are subsequently recognized in the(More)
This paper describes a system that semi-automatically builds a virtual world for remote operations by constructing 3-D models of a robot's work environment. With a minimum of human interaction, planar and quadric surface representations of objects typically found in man-made facilities are generated from laser rangefinder data. The surface representations(More)
To examine the effect of increased hexosamine flux in liver, the rate-limiting enzyme in hexosamine biosynthesis (glutamine:fructose-6-phosphate amidotransferase [GFA]) was overexpressed in transgenic mice using the PEPCK promoter. Liver from random-fed transgenic mice had 1.6-fold higher GFA activity compared with nontransgenic control littermates (276 +/-(More)
Frogs maintained on a diurnal light-dark cycle (14 hours light and 10 hours darkness) shed their rod photoreceptor outer segment tips shortly after the onset of light. Shedding is synchronous and occurs in about 25 percent of the rod photoreceptors each day. Prolonged exposure to total darkness decreases the amount of shedding, after which exposure to light(More)
For an autonomous vehicle, detecting and tracking other vehicles is a critical task. Determining the orientation of a detected vehicle is necessary for assessing whether the vehicle is a potential hazard. If a detected vehicle is moving, the orientation can be inferred from its trajectory, but if the vehicle is stationary, the orientation must be determined(More)