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Search Publications by: Martin Herman (Assoc)

Displaying 151 - 163 of 163

Real-Time Hierarchical Planning for Multiple Mobile Robots

December 10, 1987

Author(s)

Martin Herman, James S. Albus

The Multiple Autonomous Underwater Vehicles (MAUV) project is described. The goal of the project is to have multiple underwater vehicles exhibiting intelligent, autonomous, cooperative behavior. The MAUV control system is hierarchically structured and

Representation and Incremental Construction of a Three-Dimensional Scene Model

December 31, 1986

Author(s)

Martin Herman

The representation, construction and updating of the 3D scene model derived by the 3D Mosaic scene understanding system is described. The scene model is a surface-based description of an urban scene, and is incrementally acquired from a sequence of images

Merging 3-D Symbolic Descriptions Obtained from Multiple Views of a Scene

October 31, 1986

Author(s)

Martin Herman

An algorithm is presented for merging three-dimensional symbolic descriptions of static polyhedral scenes obtained from multiple viewpoints. The 3-D descriptions are assumed to be partial because of occulusions. The merging algorithms treats the topology

Incremental Reconstruction of 3D Scenes from Multiple Complex Images

August 26, 1986

Author(s)

Martin Herman, T Kanade

The 3D Mosaic system is a vision system that incrementally reconstructs complex 3D scenes from a sequence of images obtained from multiple viewpoints. The system encompasses several levels of the vision process, starting with images and ending with

Fast Path Planning in Unstructured, Dynamic, 3-D Worlds

April 21, 1986

Author(s)

Martin Herman

Issues dealing with fast motion planning in unstructured, dynamic 3-D worlds are discussed, and a fast path planning system under the development at NBS is described. It is agued that an octree representation of the obstacles in the world leads to fast

Fast, Three-Dimensional, Collision-Free Motion Planning

April 10, 1986

Author(s)

Martin Herman

Issues dealing with fast, 3-D, collision-free motion planning are discussed, and a fast path planning system under development at NBS is described. The components of a general motion planner are outlined, and some of their computational aspects are

Incremental Acquisition of a Three-Dimensional Scene Model from Images

May 1, 1984

Author(s)

Martin Herman, T Kanade, S Kuroe

We describe the current state of the 3-D Mosaic project, whose goal is to incrementally acquire a 3-D model of a complex urban scene from images. The notion of incremental acquisition arises from the observations that 1) single images contain only partial