Thomas Cecil

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We present a low-cost stereo vision implementation suitable for use in autonomous vehicle applications and designed with agricultural applications in mind. This implementation utilizes the Census transform algorithm to calculate depth maps from a stereo pair of automotive-grade CMOS cameras. The final prototype utilizes commodity hardware, including a(More)
In this paper we extend the two dimensional methods set forth in [4], proposing a variational approach to a path planning problem in three dimensions using a level set framework. After defining an energy integral over the path, we use gradient flow on the defined energy and evolve the entire path until a locally optimal steady state is reached. We follow(More)
In this paper we propose a variational approach to a path planning problem in 2 dimensions using a level set framework. After defining an energy integral over the path, we use gradient flow on the defined energy and evolve the entire path until a locally optimal steady state is reached. Unlike typical level set implementations where the interface being(More)
A hypersurface M n−1 in a real space-form R n , S n or H n is isoparametric if it has constant principal curvatures. For R n and H n , the classification of isoparametric hypersurfaces is complete and relatively simple, but asÉlie Cartan showed in a series of four papers in 1938–1940, the subject is much deeper and more complex for hypersurfaces in the(More)
We prove that any connected proper Dupin hypersur-face in R n is analytic algebraic and is an open subset of a connected component of an irreducible algebraic set. We prove the same result for any connected non-proper Dupin hypersurface in R n that satisfies a certain finiteness condition. Hence any taut submani-fold M in R n , whose tube M ǫ satisfies this(More)
We prove that any connected proper Dupin hypersur-face in R n is analytic algebraic and is an open subset of a connected component of an irreducible algebraic set. We prove the same result for any connected Dupin hypersurface in R n that satisfies a finiteness condition. Hence any taut submanifold of R n , whose unit normal bundle satisfies the finiteness(More)