We introduce a visual motion segmentation method employing spherical geometry for fisheye cameras and automated driving. Three commonly used geometric constraints in pin-hole imagery (the positive height, depth epipolar constraints) are reformulated to coordinates, making them invariant specific camera configurations as long the calibration is known. A fourth constraint, known anti-parallel add...

A new robot path planning methodology called obstacle accommodation has been introduced for robots in cluttered environments. This methodology does not attempt to avoid physical contact between a robot and obstacles. Instead, it controls the contact to prevent damage to the robot. Obstacle accommodation represents a new robotic paradigm in which obstacles can contact robots at unspecified posit...

Proteins are active, flexible machines that perform a range of different functions. Innovative experimental approaches may now provide limited partial information about conformational changes along motion pathways of proteins. There is therefore a need for computational approaches that can efficiently incorporate prior information into motion prediction schemes. In this paper, we present PathRo...

A simultaneous multi-frame super-resolution video reconstruction procedure, utilizing spatio-temporal smoothness constraints and motion estimator confidence parameters is proposed. The ill-posed inverse problem of reconstructing super-resolved imagery from the low resolution, degraded observations is formulated as a statistical inference problem and a Bayesian, maximum a-posteriori (MAP) approa...

This paper is concerned with planning the motion of mobile robots in formation, which means certain geometrical constraints are imposed on the relative positions and orientations of the robots throughout their travel. Specifically, a method of planning motion for formations of mobile robots with nonholonomic constraints is presented. The kinematic equations developed allow a certain class of fo...

A simultaneous multi-frame super-resolution video reconstruction procedure, utilizing spatio-temporal smoothness constraints and motion estimator confidence parameters is proposed. The ill-posed inverse problem of reconstructing super-resolved imagery from the low resolution, degraded observations is formulated as a statistical inference problem and a Bayesian, maximum a-posteriori (MAP) approa...