We present a novel plane tracking algorithm based on the direct update of surface parameters from two stereo images. The plane tracking algorithm is posed as an optimization problem, and maintains an iteratively re-weighted least squares approximation of the plane’s orientation using direct pixel-measurements. To facilitate autonomous operation, we include an algorithm for robust detection of s...

Let S be a finite set of points in the plane that are in convex position. We present an algorithm that constructs a plane 3+4π 3 -spanner of S whose vertex degree is at most 3. Let Λ be the vertex set of a finite non-uniform rectangular lattice in the plane. We present an algorithm that constructs a plane 3 √ 2-spanner for Λ whose vertex degree is at most 3. For points that are in the plane and...

We present an efficient three-phase algorithm for volume viewing that is based on exploitt ing coherency between rays in parallel projection. The algorithm starts by building a ray emplate and determining a special plane for projection – the base-plane. Parallel rays are cast t into the volume from within the projected region of the volume on the base-plane, by repeating he sequence of steps sp...

Image segmentation is the basis for computer vision and object recognition. Watershed transform is one of the common methods used for region based segmentation. The previous watershed methods results in over segmentation. In this paper we present a novel method for efficient image segmentation by using bit-plane slicing and markercontrolled watershed. Bit-Plane slicing method produces the slice...

This paper develops and implements a new algorithm for calculating wave trace invariants of a bounded plane domain around a periodic billiard orbit. The algorithm is based on a new expression for the localized wave trace as a special multiple oscillatory integral over the boundary, and on a Feynman diagrammatic analysis of the stationary phase expansion of the oscillatory integral. The algorith...

|We introduce a neareld to fareld transformation algorithm that relaxes the usual restriction that data points be located on a plane-rectangular grid. Computational complexity is O (N logN), where N is the number of data points. This algorithm allows e cient processing of neareld data with known probe position errors. Also, the algorithm is applicable to other measurement approaches, such as pl...

In this paper we present a cutting plane algorithm for the Set Covering problem. Cutting planes are generated by a “general” (i.e. not based on the “template paradigm”) separation algorithm based on the following idea: i) identify a suitably small subproblem defined by a subset of the constraints of the formulation; ii) run an exact separation algorithm over the subproblem to produce a violated...

This paper is devoted to constructing a definite efficient scheme for non-smooth optimization. A separating plane algorithm with additional clipping is proposed. The algorithm is used for solving the unconstrained non-smooth convex optimization problem. The latter problem can be reformulated as the computation of the value of a conjugate function at the origin. The algorithm convergence is prov...

In this paper, we develop a free space detection algorithm for the visual navigation of the autonomous robot mounting a catadioptiric omnidirectional imaging system. The algorithm detects the dominant plane as the free space from a sequence of omnidirectional images captured by a camera mounted on the autonomous robot. The dominant plane, which can be detected from the optical-flow field, is th...

Given a convex polyhedron P of n vertices inside a sphere Q, we give an O(n)-time algorithm that cuts P out of Q by using guillotine cuts and has cutting cost O(log n) times the optimal.