Jon A. Webb

ICRA Conference 1986 Conference Paper

Progress in robot road-following

• Richard S. Wallace 0001
• K. Matsuzaki
• Yoshimasa Goto
• Jill D. Crisman
• Jon A. Webb
• Takeo Kanade

We report progress in visual road following by autonomous robot vehicles. We present results and work in progress in the areas of system architecture, image rectification and camera calibration, oriented edge tracking, color classification and road-region segmentation, extracting geometric structure, and the use of a map. In test runs of an outdoor robot vehicle, the Terregator, under control of the Warp computer, we have demonstrated continuous motion vision-guided road-following at speeds up to 1. 08 km/hour with image processing and steering servo loop times of 3 sec.

ICRA Conference 1985 Conference Paper

Warp as a machine for low-level vision

• Thomas R. Gross
• H. T. Kung 0001
• Monica Lam 0001
• Jon A. Webb

Warp is a programmable systolic array processor. One of its objectives is to support computer vision research. This paper shows how the Warp architecture can be used to fulfill the computational needs of low-level vision. We study the characteristics of low-level vision algorithms and show how they lead to requirements for computer architecture. These requirements are met by Warp. We then describe how the Warp system can be used. Warp programs can be classified in two ways: chained versus severed, and heterogeneous versus homogeneous. Chained and severed characterize the degree of interprocessor dependency, while heterogeneous and homogeneous characterize the degree of similarity between programs on individual processors. Taken in combination, these classes give four user models. Sophisticated programming tools are needed to support these user models.

AAAI Conference 1984 Conference Paper

The Shape of Subjective Contours

• Jon A. Webb

We develop a theoretical framework for interpolating visual contours and apply it to subjective contours. The theory is based on the idea of consistency: a curve fitting algorithm must give consistent answers when presented with more data consistent with its hypothesis, or the same data under different conditions. Using this assumption, we prove that the subjective contour through two point-tangents is a parabola. We extend the theory to include multiple point-tangents and points. Sample output of programs implementing the theory is provided.

AIJ Journal 1982 Journal Article

Structure from motion of rigid and jointed objects

• Jon A. Webb
• J.K. Aggarwal

A method for recovering the three-dimensional structure of moving rigid and jointed objects from several single camera views is presented. The method is based on the fixed axis assumption: all movement consists of translations and rotations about an axis that is fixed in direction for short periods of time. This assumption makes it possible to recover the structure of any group of two or more rigidly connected points. The structure of jointed objects is recovered by analyzing them as collections of rigid parts, and then unifying the structures proposed for the parts. The method presented here has been tested on several sets of data, including movies used to demonstrate human perception of structure from motion.

AAAI Conference 1980 Conference Paper

Static Analysis of Moving Jointed Objects

• Jon A. Webb