Robert C. Bolles

ICRA Conference 1989 Conference Paper

Exploiting temporal coherence in scene analysis for autonomous navigation

• Robert C. Bolles
• Aaron F. Bobick

A technique for building reliable scene descriptions by evaluating the temporal stability of detected objects is presented. The approach is designed to avoid mistakes and to increase the competence of the sensing system by tracking objects from image to image and evaluating the stability of their descriptions over time. Since the information available about an object can change significantly over time, the authors introduce the idea of a representation space, which is a lattice of representations progressing from crude blob descriptions to complete semantic models, such as bush, rock, and tree. One of these representations is associated with an object only after the object has been described multiple times in the representation and the parameters of the representation are stable in a statistical sense enhanced by a set of explanations describing valid reasons for deviations. To illustrate the power of these ideas, the authors have implemented a system, called TraX, that constructs and refines models of outdoor objects detected in sequences of range data. >

ICRA Conference 1986 Conference Paper

Edge chain analysis for object verification

• Cregg K. Cowan
• Robert C. Bolles
• M. J. Hannah
• James A. Herson

A technique for verifying an object hypothesis by comparing hypothesized edge patterns to detected edge patterns is presented. Positive evidence for a hypothesis is identified as those portions of the model edges that are found in the image, either as geometrical features (such as straight lines or circular arcs} or as linked edges of arbitrary shape. Occluded portions of a model edge are detected by analyzing junctions of image and model edge chains. Negative evidence is identified as those portions of the model edges that are not found and are not occluded. We describe the types of junctions that can occur between image and model edges and discuss a technique for identifying occluded regions based on these junctions. Preliminary results of these techniques are also presented.

ICRA Conference 1984 Conference Paper

3DPO's strategy for matching three-dimensional objects in range data

• Radu Horaud
• Robert C. Bolles

A strategy for recognizing and locating three-dimensional objects in range data is presented. The strategy combines information derived from models of the objects and edges and surfaces detected in the data to efficiently match objects. Given a set of objects to be found, the set of object features are partitioned into subsets having similar intrinsic properties. An ordered tree of features to be considered is set up for each subset. These search trees are designed to maximize the use of the information as it is obtained and minimize the time required to recognize objects. A detailed example of this approach being used to recognize moderately complex castings in a jumble is presented.

AAAI Conference 1980 Conference Paper

Locating Partially Visible Objects: The Local Feature Focus Method

• Robert C. Bolles