40534720
A robot system that observes and replicates grasping tasks
To alleviate the problem of overwhelming complexity in grasp synthesis and path planning associated with robot task planning, we adopt the approach of teaching the robot by demonstrating in front of it. The system has four components: the observation system, the grasping task recognition module, the task translator and the robot system. The observation system comprises an active multibaseline stereo system and a dataglove. The data stream recorded is then used to track object motion; this paper illustrates how complimentary sensory data can be used for this purpose. The data stream is also interpreted by the grasping task recognition module, which produces higher levels of abstraction to describe both the motion and actions taken in the task. The resulting information are provided to the task translator which creates commands for the robot system to replicate the observed task. In this paper we describe how these components work with special emphasis on the observation system. The robot system that we use to perform the grasping tasks comprises the PUMA 560 arm and the Utah/MIT hand.<<ETX>>
47117010
Stylizing 2.5-D video
In recent years considerable interest has been given to non-photorealistic rendering of photographs, video, and 3D models for illustrative or artistic purposes. Conventional 2D inputs such as photographs and video are easy to create and capture, while 3D models allow for a wider variety of stylization techniques, such as cross-hatching. In this paper, we propose using video with depth information (2.5-D video) to combine the advantages of 2D and 3D input. 2.5-D video is becoming increasingly easy to capture, and with the additional depth information, stylization techniques that require shape information can be applied. However, because 2.5-D video contains only limited shape information and 3D correspondence over time is unknown, it is difficult to create temporally coherent stylized animations directly from raw 2.5-D video. In this paper, we present techniques for processing 2.5-D video to overcome these drawbacks, and demonstrate several styles that can be created using these techniques.
16190492
Noise Estimation from a Single Image
In order to work well, many computer vision algorithms require that their parameters be adjusted according to the image noise level, making it an important quantity to estimate. We show how to estimate an upper bound on the noise level from a single image based on a piecewise smooth image prior model and measured CCD camera response functions. We also learn the space of noise level functions how noise level changes with respect to brightness and use Bayesian MAP inference to infer the noise level function from a single image. We illustrate the utility of this noise estimation for two algorithms: edge detection and featurepreserving smoothing through bilateral filtering. For a variety of different noise levels, we obtain good results for both these algorithms with no user-specified inputs.
44673585
Characterization of Errors in Compositing Panoramic Images
A panoramic image has a 360° horizontal field of view, and it can provide the viewer the impression of being immersed in the scene. A panorama is created by first taking a sequence of images while rotating the camera about a vertical axis. These images are then projected onto a cylindrical surface before being seamlessly composited. The cross-sectional circumference of the cylindrical panorama is called thecompositing length. This work characterizes the error in compositing panoramic images due to errors in some of the intrinsic parameters. The intrinsic camera parameters that are considered are the camera focal length and the radial distortion coefficient. We show that the error in the compositing length is more sensitive to the error in the camera focal length. Especially important is the discovery that the relative error in compositing length is always smaller than the relative error in the focal length. This means that the error in focal length can be corrected by iteratively using the composited length to compute a new and more correct focal length. Thiscompositing approach to camera calibrationhas the advantages of not requiring both feature detection and separate prior calibration.
2096181
Video editing using figure tracking and image-based rendering
We describe a new approach to video editing based on the semi-automatic segmentation of video into multiple layers and the composition of layers using image-based rendering. Using figure tracking and background motion estimation, we can segment a moving figure and reconstruct the background. Using geometrically-correct pixel reprojection, layers can be composited on the basis of the geometry of the underlying scene and the position of a virtual camera. We have implemented a prototype editing system called SpliceWorld.
40596005
Survey of image-based representations and compression techniques
We survey the techniques for image-based rendering (IBR) and for compressing image-based representations. Unlike traditional three-dimensional (3-D) computer graphics, in which 3-D geometry of the scene is known, IBR techniques render novel views directly from input images. IBR techniques can be classified into three categories according to how much geometric information is used: rendering without geometry, rendering with implicit geometry (i.e., correspondence), and rendering with explicit geometry (either with approximate or accurate geometry). We discuss the characteristics of these categories and their representative techniques. IBR techniques demonstrate a surprising diverse range in their extent of use of images and geometry in representing 3-D scenes. We explore the issues in trading off the use of images and geometry by revisiting plenoptic-sampling analysis and the notions of view dependency and geometric proxies. Finally, we highlight compression techniques specifically designed for image-based representations. Such compression techniques are important in making IBR techniques practical.
14227015
Towards an Efficient Semantic Prefetching for Location Based Services
Location-Based Services(LBSs) in a wireless location-aware network are public and personal services intended to be available for users. It is important to support Location Dependent Data(LDD) that users want to get to their moving location properly. If we get many LDD in a local device, the communication cost increased by frequent connections can remarkably reduce. General prefetching scheme make it possible to send data to mobile clients in advance. But, after analyzing queries fixed to users’ interests in current location, it is difficult to support proper data in LBSs. Therefore, we propose a Semantic Prefetching scheme to efficiently prefetch LDD and semantic description through servers with large scale data. Also, with our semantic prefetching scheme for LDD in LBSs, we propose a new cache management scheme to manage data needed by mobile users. A performance study shows efficiency of these schemes when compared to traditional semantic cache scheme.
29231099
A new circuit optimization technique for high performance CMOS circuits
A novel transistor sizing technique with a concise problem formulation and rigorous optimization scheme is described. A circuit optimization technique for high-performance CMOS circuits is presented for proper balance of chip speed and area. The timing specification is accommodated as a design constraint, and reliability issues in the charge sharing and noise margin, which have been neglected in previous optimization tools, are also embedded into the design constraints. The optimization scheme used in this approach does not require derivatives, and therefore, can be used for a broad class of continuous cost functions. Special attention is given to the most effective use of silicon area based on the sensitivity of the delay time with respect to the transistor size. Excessively large transistor sizes are avoided by using the resource redistribution scheme. This timing allocation scheme allows the computation time to be linearly proportional to the number of gates. >
6450321
A 32-bit carry lookahead adder using dual-path all-N logic
We have developed dual path all-N logic (DPANL) and applied it to 32-bit adder design for higher performance. The speed is significantly enhanced due to reduced capacitance at each evaluation node of dynamic circuits. The power saving is achieved due to reduced adder cell size and minimal race problem. Post-layout simulation results show that this adder can operate at frequencies up to 1.85 GHz for 0.35-/spl mu/m 1P4M CMOS technology and is 32.4% faster than the adder using all-N transistor (ANT). It also consumes 29.2% less power than the ANT adder. A 0.35-/spl mu/m CMOS chip has been fabricated and tested to verify the functionality and performance of the DPANL adder on silicon.
2598525
Coupling delay optimization by temporal decorrelation using dual threshold voltage technique
Coupling effect due to line-to-line capacitance is of serious concern in timing analysis of circuits in ultra deep submicron CMOS technology. Often coupling delay is strongly dependent on temporal correlation of signal switching in relevant wires. Temporal decorrelation by shifting timing window can alleviate performance degradation induced by tight coupling. This paper presents an algorithm for minimizing circuit delay through timing window modulation in dual $V_t$ technology. Experimental results on the ISCAS85 benchmark circuits indicate that the critical delay will be reduced significantly when low $V_t$ is applied properly.
17977437
Technology independent arbitrary device extractor
This paper presents the technology independent arbitrary device specification language and device extraction algorithm used in our layout extractor iLEX. Device models specified in the device specification language are converted to graphs, and subgraph isomorphism is used to extract device instances in given layouts. Finally, experimental data are provided to show the capability of our device extraction algorithms.