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algorithm analysis applications approach approximation background binary boundary camera chain code classification color components Computer Vision constraints convex cone coordinate corresponding curvature curves defined described detection discrete cosine transform edge engineering environment equation error estimated example filter fractal function fuzzy Gaussian Gaussian curvature geometric graph Hough transform IEEE IEEE Trans image processing implemented input image layer learning linear manipulator mapping matching mean curvature method module motion neural network node noise object recognition operator optical fiber orientation output parallel parameters Pattern Recognition perception performance pixels planar position problem Proc procedure processor protofeature quadtree range image regions representation represented robot rotation sample scale scale-space scene sensor sequence shape shown in Figure signal simulation solution space spatial structure subsumption architecture subtask surface target task techniques telerobot threshold transformation vector vertex vision system visual