Quarterly Progress Report on Contract N00014-91-J-1577 (Yale University)
Abstract
During this period work continued along several fronts, all related to planning and perception. Prof. Drew McDermott and Michael Beetz, a graduate student, focused on transformational reactive plans, and especially the problem of inserting declarative goals into reactive plans. They were working on a paper summarizing their results, to be submitted to a conference. McDermott and Sean Engelson, a graduate student, worked on experimental testing of algorithms for map building in a mobile robot. The results are summarized in a paper submitted to the IEEE Robotics and Automation Conference. Prof. Gregory Hager implemented a first generation algorithm for computing whether two or more objects could be placed together in a confined space. The algorithm is correct and complete for a class of unstructured objects, and maintain correctness for unstructured objects. It has been tested in simulation and on contours computed from real images. The same idea is extendable to many more sensor-based decision making tacks. He also has been working on fitting and making decisions about composite objects using the same constraint-based ideas. We have also managed to parallelize the algorithm using Linda. At the same time Hager's group has implemented two visual tracking systems. The first is a feature-based tracker that follows high contrast boundaries. The second uses Michael Black's robust Horn & Schunk optic flow method to compute the motion of a small image patch.
Document Details
- Document Type
- Technical Report
- Publication Date
- Nov 01, 1991
- Accession Number
- ADA245219
Entities
People
- Drew McDermott
Organizations
- Yale University