-squares problem for three or more points. Currently various empirical, graphical, and numerical iterative methods are in use. Derivation of the solution is simplified by use of unit quaternions to represent rotation. I emphasize a symmetry property that a solution to this problem ought to possess. The best

. Significant change of scale (3.5×), illumi-nation conditions, out-of-plane rotation, occlusion, locally anisotropic scale change and 3D translation of the viewpoint are all present in the test prob-lems. Good estimates of epipolar geometry (average distance from corre-sponding points to the epipolar line

. Wavelet transforms are also unstable with respect to dilations of the input signal, and in two dimensions, rotations of the input signal. We formalize these problems by defining a type of translation invariance that we call "shiftability". In the spatial domain, shiftability corresponds to a

(translation and rotation). The Hausdorff distance computation differs from many other shape comparison methods in that no correspondence between the model and the image is derived. The method is quite tolerant of small position errors as occur with edge detectors and other feature extraction methods. Moreover

, and computation is represented purely as the communication of names across links. After an illustrated description of how the n-calculus generalises conventional process algebras in treating mobility, several examples exploiting mobility are given in some detail. The important examples are the encoding into the n

In this paper we present a robust method for automatically matching features in images corresponding to the same physical point on an object seen from two arbitrary viewpoints. Unlike conventional stereo matching approaches we assume no prior knowledge about the relative camera positions

identically regardless of its orientation. An alternative hypothesis is that an object is represented in memory in a single representation corresponding to a canonical orientation, and a mental rotation operation transforms an input shape into that orientation before input and memory are compared. A third

(SNR) with either Gaussian or uniform noise provide data suggesting that accurate inference of rota-tion and translation with noisy data may require corresponding point data sets having hundreds of corresponding point pairs when the SNR is less than 40 dB. The experiment results also show that robust

A new adaptation scheme for adapting arbitrary normal mutation distributions in evolution strategies is introduced. It can adapt correct scaling and correlations between object parameters. Furthermore, it is independent of any rotation of the objective function and reliably adapts mutation

Columbia Object Image Library (COIL-100) is a database of color images of 100 objects. The objects were placed on a motorized turntable against a black background. The turntable was rotated through 360 degrees to vary object pose with respect to a xed color camera. Images of the objects were taken