The model-based vision system described in this paper allows a mobile robot to navigate
indoors at an average speed of 8 to 10 m/min using ordinary laboratory computing hardware …

A mobile robot exploring an unknown environment has no absolute frame of reference for its
position, other than features it detects through its sensors. Using distinguishable landmarks …

A system that allows a robot to use a model of its environment to navigate is reported. The
system maps the environment as a set of snapshots of the world taken at target locations …

This paper mathematically analyzes and proposes new solutions for the problem of
estimating the camera 3D location and orientation (pose determination) from a matched set …

3-D object recognition involves using image-computable features to identify 3-D object. A
single view of a 3-D object may not contain sufficient features to recognize it unambiguously …

We introduce a novel method for visual homing. Using this method a robot can be sent to
desired positions and orientations in 3D space specified by single images taken from these …

Local search is a well established and highly effective method for solving complex
combinatorial optimization problems. Here, local search is adapted to solve difficult …

A reasoning and control architecture for vision-guided navigation that makes a robot more
humanlike is presented. This system, called NEURO-NAV, discards the more traditional …

Abstract Discrete Event Systems (DES) are a special type of dynamic system. The 'state'of
these systems changes at discrete instants in time and the term 'event'represents the …

The theme of this thesis is shape registration (also called shape matching or shape
alignment) using optimization-based algorithms. We primarily address this problem in the …