An algorithm for real-time estimation of the pose of a moving object of known geometry is considered. The algorithm is based on a discrete-time Extended Kalman Filter which computes the object pose on the basis of visual measurements of the object features. The robustness of the algorithm with respect to measurement noise and modelling errors is improved by considering a full adaptive version o...

While object diagrams (ODs) are widely used as a means to document object-oriented systems, they are expressively weak, as they are limited to describe specific possible snapshots of the system at hand. In this paper we introduce modal object diagrams (MODs), which extend the classical OD language with positive/negative and example/invariant modalities. The extended language allows the designer...

An algorithm for the real-time estimation of the position and orientation of a moving object of known geometry is presented in this paper. An estimation algorithm is adopted where a discrete-time extended Kalman filter computes the object pose on the basis of visual measurements of the object features. The scheme takes advantage of the prediction capability of the extended Kalman filter for the...

In [13], a new model of plant taxonomy (Prometheus) was designed; it supports multiple overlapping classifications, and distinguishes the process of naming from classifying. The concepts identified in this taxonomic model necessitated the design of a new database model (POOM) to represent and manipulate the data. POOM is an extended object oriented model which emphasises relationships, thereby ...

Order-sorted equational logic is extended with dynamic logic to a specification language for dynamic objects. Special attention is paid to different concepts of encapsulation that play a role in object-orientation. It is argued that the resulting language, CMSL, meets those requirements of the object-oriented database system manifesto [6] that are applicable to object-oriented conceptual models...

From the perspective of cognitive informatics (CI), this paper proposes internal relations between distance and orientation knowledge of extended objects, and presents a formal representation of spatial knowledge. The connection relation is taken as primitive. Notions of near extension regions and the nearer predicate are developed. Distance relations between extended objects are understood as ...

This paper describes a hand-eye system we developed to perform the binpicking task. Two basic tools are employed: the photometric stereo method and the extended Gaussian image. The photometric stereo method generates the surface normal distribution of a scene. The extended Gaussian image allows us to determine the attitude of the object based on the normal distribution. Visual anaIysis of an im...

From the perspective of cognitive informatics (CI), this paper proposes internal relations between distance and orientation knowledge of extended objects, and presents a formal representation of spatial knowledge. The connection relation is taken as primitive. Notions of near extension regions and the nearer predicate are developed. Distance relations between extended objects are understood as ...

We present a new 3D scene description language, Object-Oriented VRML, to show how VRML can be extended to incorporate object-oriented design principles. Object-Oriented VRML supports the creation of objects in an object-oriented style. It is based on a safe object type system in which runtime type errors are not generated. It facilitates the efficient implementation of virtual environment syste...