Seth Koterba

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In this paper we study the relationship between multi-view Active Appearance Model (AAM) fitting and camera calibration. In the first part of the paper we propose an algorithm to calibrate the relative orientation of a set of N > 1 cameras by fitting an AAM to sets of N images. In essence, we use the human face as a (non-rigid) calibration grid. Our(More)
Active Appearance Models (AAMs) are genera-tive, parametric models that have been successfully used in the past to model deformable objects such as human faces. The original AAMs formulation was 2D, but they have recently been extended to include a 3D shape model. A variety of single-view algorithms exist for fitting and constructing 3D AAMs but one area(More)
The fundamental difference between autonomous robotic assembly and traditional hard automation, currently utilized in large-scale manufacturing production, lies in the specific approaches used in locating, acquiring, manipulating , aligning, and assembling parts. An autonomous robotic assembly manipulator offers high flexibility and high capability to deal(More)
– Artificial skin research has focused on three primary characteristics: high density, flexible sensing arrays, and the ability to decompose all three components of an applied force vector. Previous research has accomplished some but not all of these characteristics. In this paper, we present a new flexible, high density sensor array and a triaxial force(More)
— Construction and assembly are complex and arduous tasks, especially when performed in hazardous environments such as in orbit, on the Moon, or on Mars. Effective assembly of structures in such environments, where human labor is expensive and scarce, can be facilitated by the use of heterogeneous robotic teams. Over the past five years, we have developed(More)
—Traditional industrial robots have been widely used in automotive manufacturing for nearly 30 years. However, there have been very few attempts to automate mobile robotic systems for final assembly operations, despite their potential for high flexibility and capability. This paper focuses on methods of tracking a dynamic moving vehicle that is similar to(More)
The views and conclusions contained in this document are those of the author and should not be interpreted as representing the official policies, either expressed or implied, of any sponsoring institution, the U.S. government or any other entity. Abstract The general problem of planning for uncertain domains remains a difficult challenge. Research that(More)
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