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Efficient Variants of the ICP Algorithm
 INTERNATIONAL CONFERENCE ON 3D DIGITAL IMAGING AND MODELING
, 2001
"... The ICP (Iterative Closest Point) algorithm is widely used for geometric alignment of threedimensional models when an initial estimate of the relative pose is known. Many variants of ICP have been proposed, affecting all phases of the algorithm from the selection and matching of points to the minim ..."
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Cited by 702 (5 self)
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The ICP (Iterative Closest Point) algorithm is widely used for geometric alignment of threedimensional models when an initial estimate of the relative pose is known. Many variants of ICP have been proposed, affecting all phases of the algorithm from the selection and matching of points to the minimization strategy. We enumerate and classify many of these variants, and evaluate their effect on the speed with which the correct alignment is reached. In order to improve convergence for nearlyflat meshes with small features, such as inscribed surfaces, we introduce a new variant based on uniform sampling of the space of normals. We conclude by proposing a combination of ICP variants optimized for high speed. We demonstrate an implementation that is able to align two range images in a few tens of milliseconds, assuming a good initial guess. This capability has potential application to realtime 3D model acquisition and modelbased tracking.
Statistical mechanics of complex networks
 Rev. Mod. Phys
"... Complex networks describe a wide range of systems in nature and society, much quoted examples including the cell, a network of chemicals linked by chemical reactions, or the Internet, a network of routers and computers connected by physical links. While traditionally these systems were modeled as ra ..."
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Cited by 2083 (10 self)
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Complex networks describe a wide range of systems in nature and society, much quoted examples including the cell, a network of chemicals linked by chemical reactions, or the Internet, a network of routers and computers connected by physical links. While traditionally these systems were modeled as random graphs, it is increasingly recognized that the topology and evolution of real
Shiftable Multiscale Transforms
, 1992
"... Orthogonal wavelet transforms have recently become a popular representation for multiscale signal and image analysis. One of the major drawbacks of these representations is their lack of translation invariance: the content of wavelet subbands is unstable under translations of the input signal. Wavel ..."
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Cited by 557 (36 self)
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Orthogonal wavelet transforms have recently become a popular representation for multiscale signal and image analysis. One of the major drawbacks of these representations is their lack of translation invariance: the content of wavelet subbands is unstable under translations of the input signal. 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 lack of aliasing; thus, the conditions under which the property holds are specified by the sampling theorem. Shiftability may also be considered in the context of other domains, particularly orientation and scale. We explore "jointly shiftable" transforms that are simultaneously shiftable in more than one domain. Two examples of jointly shiftable transforms are designed and implemented: a onedimensional tran...
Probabilistic Roadmaps for Path Planning in HighDimensional Configuration Spaces
 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
, 1996
"... A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collisionfree configurations and whose edg ..."
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Cited by 1276 (124 self)
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A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collisionfree configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (=150 MIPS), after learning for relatively short periods of time (a few dozen seconds)
Domain Theory
 Handbook of Logic in Computer Science
, 1994
"... Least fixpoints as meanings of recursive definitions. ..."
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Cited by 546 (25 self)
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Least fixpoints as meanings of recursive definitions.
SelfSimilarity Through HighVariability: Statistical Analysis of Ethernet LAN Traffic at the Source Level
 IEEE/ACM TRANSACTIONS ON NETWORKING
, 1997
"... A number of recent empirical studies of traffic measurements from a variety of working packet networks have convincingly demonstrated that actual network traffic is selfsimilar or longrange dependent in nature (i.e., bursty over a wide range of time scales)  in sharp contrast to commonly made tr ..."
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Cited by 740 (24 self)
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A number of recent empirical studies of traffic measurements from a variety of working packet networks have convincingly demonstrated that actual network traffic is selfsimilar or longrange dependent in nature (i.e., bursty over a wide range of time scales)  in sharp contrast to commonly made traffic modeling assumptions. In this paper, we provide a plausible physical explanation for the occurrence of selfsimilarity in LAN traffic. Our explanation is based on new convergence results for processes that exhibit high variability (i.e., infinite variance) and is supported by detailed statistical analyses of realtime traffic measurements from Ethernet LAN's at the level of individual sources. This paper is an extended version of [53] and differs from it in significant ways. In particular, we develop here the mathematical results concerning the superposition of strictly alternating ON/OFF sources. Our key mathematical result states that the superposition of many ON/OFF sources (also k...
Semantics of ContextFree Languages
 In Mathematical Systems Theory
, 1968
"... "Meaning " may be assigned to a string in a contextfree language by defining "attributes " of the symbols in a derivation tree for that string. The attributes can be defined by functions associated with each production in the grammar. This paper examines the implications of th ..."
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Cited by 559 (0 self)
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"Meaning " may be assigned to a string in a contextfree language by defining "attributes " of the symbols in a derivation tree for that string. The attributes can be defined by functions associated with each production in the grammar. This paper examines the implications of this process when some of the attributes are "synthesized", i.e., defined solely in terms of attributes of the descendants of the corresponding nonterminal symbol, while other attributes are "inherited", i.e., defined in terms of attributes of the ancestors of the nonterminal symbol. An algorithm is given which detects when such semantic rules could possibly lead to circular definition of some attributes. An example is given of a simple programming language defined with both inherited and synthesized attributes, and the method of definition is compared to other techniques for formal specification of semantics which have appeared in the literature. A simple technique for specifying the "meaning " of languages defined by contextfree grammars is introduced in Section 1 of this paper, and its basic mathematical properties are investigated in Sections 2 and 3. An example which indicates how the technique can be applied to the formal definition of programming languages i described in Section 4, and finally, Section 5 contains a somewhat biased comparison of the present method to other known techniques for semantic definition. The discussion in this paper is oriented primarily towards programming languages, but the same methods appear to be relevant also in the study of natural anguages. 1. Introduction. Let
Linked Data  The story so far
"... The term Linked Data refers to a set of best practices for publishing and connecting structured data on the Web. These best practices have been adopted by an increasing number of data providers over the last three years, leading to the creation of a global data space containing billions of assertion ..."
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Cited by 700 (14 self)
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The term Linked Data refers to a set of best practices for publishing and connecting structured data on the Web. These best practices have been adopted by an increasing number of data providers over the last three years, leading to the creation of a global data space containing billions of assertions the Web of Data. In this article we present the concept and technical principles of Linked Data, and situate these within the broader context of related technological developments. We describe progress to date in publishing Linked Data on the Web, review applications that have been developed to exploit the Web of Data, and map out a research agenda for the Linked Data community as it moves forward.
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