Author name cluster

A. Blake

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

3 papers

2 author rows

ICRA Conference 1991 Conference Paper

Analogue computation of collision-free paths

Lionel Tarassenko
A. Blake

A method for robot path planning that uses a 2D scalar electric potential subject to Neumann boundary conditions is presented. Obstacles are modeled as nonconducting solids in a conducting medium. The starting point is modeled as a current source and the goal as an equal and opposite current sink. It is shown that this formulation is considerably more powerful than the recent potential-field algorithm of C. I. Connolly et al. (1990), particularly when navigating long, narrow corridors. Feasible paths for navigation are current streamlines, as demonstrated by the results of software simulations in a 2D Euclidean plane. One of the principal advantages of the method is that it can be implemented with parallel analog hardware in the form of a resistive grid. With analog VLSI chips, it will be possible to plan paths for realistic environments in real time. >

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IJCAI Conference 1985 Conference Paper

Specular Stereo

A. Blake

A glossy highlight, viewed stereoscopically, can provide information about surface shape. For example, highlights appear to lie behind convex surfaces but in front of concave ones. A highlight is a distorted, reflected image of a light source. A ray equation is developed to predict the stereo disparities generated when a point source of light is reflected in a smooth, curved surface. This equation can be inverted to infer surface curvature properties from observed stereo disparities of the highlight. To obtain full information about surface curvature in the neighbourhood of the highlight, stereo with two different baselines or stereo with motion parallax is required The same ray equation can also be used to predict the monocular appearance of a distributed source. A circular source, for instance, may produce an elliptical specular patch in an image, and the dimensions of the ellipse help to determine surface shape.

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AAAI Conference 1984 Conference Paper

Reconstructing a Visible Surface

A. Blake

We address the problem of reconstructing the visible surface in stereoscopic vision. We point out the need for viewpoint invariance in the reconstruction scheme and demonstrate the undesirable "wobble" effect that can occur when such invariance is lacking. The design of an invariant scheme is discussed.

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