Bkp Horn | Massachusetts Institute of Technology (MIT) (original) (raw)
Papers by Bkp Horn
ACM SIGART Bulletin, 1975
I will begin with a general overview of the two types of systems and compare them at a general le... more I will begin with a general overview of the two types of systems and compare them at a general level. The second section will describe the eye and camera as the input devices. Later sections will discuss segmentation of the scene, visual imagery and encoding of the scene, perception, depth and space perception, and perception of movement.
Bookmarks Related papers MentionsView impact
Sensors
Indoor localization using fine time measurement (FTM) round-trip time (RTT) with respect to coope... more Indoor localization using fine time measurement (FTM) round-trip time (RTT) with respect to cooperating Wi-Fi access points (APs) has been shown to work well and provide 1–2 m accuracy in both 2D and 3D applications. This approach depends on APs implementing the IEEE 802.11-2016 (also known as IEEE 802.11mc) Wi-Fi standard (“two-sided” RTT). Unfortunately, the penetration of this Wi-Fi protocol has been slower than anticipated, perhaps because APs tend not to be upgraded as often as other kinds of electronics, in particular in large institutions—where they would be most useful. Recently, Google released Android 12, which also supports an alternative “one-sided” RTT method that will work with legacy APs as well. This method cannot subtract out the “turn-around” time of the signal, and so, produces distance estimates that have much larger offsets than those seen with two-sided RTT—and the results are somewhat less accurate. At the same time, this method makes possible distance measure...
Bookmarks Related papers MentionsView impact
This report describes research done at the Artificial Intelligence Laboratory of the Massachusett... more This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-75-C-0643.MIT Artificial Intelligence Laboratory Department of Defense Advanced Research Projects Agenc
Bookmarks Related papers MentionsView impact
Convolutions have long been regarded as fundamental to applied mathematics, physics and engineeri... more Convolutions have long been regarded as fundamental to applied mathematics, physics and engineering. Their mathematical elegance allows for common tasks such as numerical differentiation to be computed efficiently on large data sets. Efficient computation of convolutions is critical to artificial intelligence in real-time applications, like machine vision, where convolutions must be continuously and efficiently computed on tens to hundreds of kilobytes per second. In this paper, we explore how convolutions are used in fundamental machine vision applications. We present an accelerated n-dimensional convolution package in the high performance computing language, Julia, and demonstrate its efficacy in solving the time to contact problem for machine vision. Results are measured against synthetically generated videos and quantitatively assessed according to their mean squared error from the ground truth. We achieve over an order of magnitude decrease in compute time and allocated memory ...
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Proceedings of the IEEE, 1984
Bookmarks Related papers MentionsView impact
Proceedings of the IEEE, 1981
Bookmarks Related papers MentionsView impact
Applied Optics, 1979
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
It is well known that a function can be decomposed uniquely into the sum of an odd and an even fu... more It is well known that a function can be decomposed uniquely into the sum of an odd and an even function. This notion can be extended to the unique decomposition into the sum of four functions — two of which are even and two odd. These four functions are eigenvectors of the Fourier Transform with four different eigenvalues. That is, the Fourier transform of each of the four components is simply that component multiplied by the corresponding eigenvalue. Some eigenvectors of the discrete Fourier transform of particular interest find application in coding, communication and imaging. Some of the underlying mathematics goes back to the times of Carl Friedrich Gauss.
Bookmarks Related papers MentionsView impact
Acta Crystallographica Section A Foundations and Advances
Bookmarks Related papers MentionsView impact
IEEE Transactions on Intelligent Transportation Systems, Oct 1, 2018
Bookmarks Related papers MentionsView impact
IEEE Transactions on Automatic Control
In this paper, we study the chain stability of vehicles under bilateral control (BCM), and prove ... more In this paper, we study the chain stability of vehicles under bilateral control (BCM), and prove that vehicles under bilateral control are chain stable, i.e., all input perturbations to the chain decay exponentially (with the length of the chain). Chain stability analysis tells us how vehicles under bilateral control will act in traffic when mixed with cars driven by human drivers. It shows that self-driving cars using bilateral control can reduce traffic flow instabilities in mixed traffic. Indeed, chains of BCM vehicles become perturbation-consuming dampers when inserted in traffic, since they split chains of human-driven vehicles and prevent perturbations from being transmitted from one chain of car-following cars to the next. Thus, today's traffic can be improved greatly by the insertion of BCM vehicles. The simulation results validate the theoretical analysis.
Bookmarks Related papers MentionsView impact
IEEE Transactions on Automatic Control
Bookmarks Related papers MentionsView impact
ABSTRACT
Bookmarks Related papers MentionsView impact
Proceedings. 1986 IEEE International Conference on Robotics and Automation, 1986
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Science News, 1986
Bookmarks Related papers MentionsView impact
Science News, 1978
Bookmarks Related papers MentionsView impact
ACM SIGART Bulletin, 1975
I will begin with a general overview of the two types of systems and compare them at a general le... more I will begin with a general overview of the two types of systems and compare them at a general level. The second section will describe the eye and camera as the input devices. Later sections will discuss segmentation of the scene, visual imagery and encoding of the scene, perception, depth and space perception, and perception of movement.
Bookmarks Related papers MentionsView impact
Sensors
Indoor localization using fine time measurement (FTM) round-trip time (RTT) with respect to coope... more Indoor localization using fine time measurement (FTM) round-trip time (RTT) with respect to cooperating Wi-Fi access points (APs) has been shown to work well and provide 1–2 m accuracy in both 2D and 3D applications. This approach depends on APs implementing the IEEE 802.11-2016 (also known as IEEE 802.11mc) Wi-Fi standard (“two-sided” RTT). Unfortunately, the penetration of this Wi-Fi protocol has been slower than anticipated, perhaps because APs tend not to be upgraded as often as other kinds of electronics, in particular in large institutions—where they would be most useful. Recently, Google released Android 12, which also supports an alternative “one-sided” RTT method that will work with legacy APs as well. This method cannot subtract out the “turn-around” time of the signal, and so, produces distance estimates that have much larger offsets than those seen with two-sided RTT—and the results are somewhat less accurate. At the same time, this method makes possible distance measure...
Bookmarks Related papers MentionsView impact
This report describes research done at the Artificial Intelligence Laboratory of the Massachusett... more This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-75-C-0643.MIT Artificial Intelligence Laboratory Department of Defense Advanced Research Projects Agenc
Bookmarks Related papers MentionsView impact
Convolutions have long been regarded as fundamental to applied mathematics, physics and engineeri... more Convolutions have long been regarded as fundamental to applied mathematics, physics and engineering. Their mathematical elegance allows for common tasks such as numerical differentiation to be computed efficiently on large data sets. Efficient computation of convolutions is critical to artificial intelligence in real-time applications, like machine vision, where convolutions must be continuously and efficiently computed on tens to hundreds of kilobytes per second. In this paper, we explore how convolutions are used in fundamental machine vision applications. We present an accelerated n-dimensional convolution package in the high performance computing language, Julia, and demonstrate its efficacy in solving the time to contact problem for machine vision. Results are measured against synthetically generated videos and quantitatively assessed according to their mean squared error from the ground truth. We achieve over an order of magnitude decrease in compute time and allocated memory ...
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Proceedings of the IEEE, 1984
Bookmarks Related papers MentionsView impact
Proceedings of the IEEE, 1981
Bookmarks Related papers MentionsView impact
Applied Optics, 1979
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
It is well known that a function can be decomposed uniquely into the sum of an odd and an even fu... more It is well known that a function can be decomposed uniquely into the sum of an odd and an even function. This notion can be extended to the unique decomposition into the sum of four functions — two of which are even and two odd. These four functions are eigenvectors of the Fourier Transform with four different eigenvalues. That is, the Fourier transform of each of the four components is simply that component multiplied by the corresponding eigenvalue. Some eigenvectors of the discrete Fourier transform of particular interest find application in coding, communication and imaging. Some of the underlying mathematics goes back to the times of Carl Friedrich Gauss.
Bookmarks Related papers MentionsView impact
Acta Crystallographica Section A Foundations and Advances
Bookmarks Related papers MentionsView impact
IEEE Transactions on Intelligent Transportation Systems, Oct 1, 2018
Bookmarks Related papers MentionsView impact
IEEE Transactions on Automatic Control
In this paper, we study the chain stability of vehicles under bilateral control (BCM), and prove ... more In this paper, we study the chain stability of vehicles under bilateral control (BCM), and prove that vehicles under bilateral control are chain stable, i.e., all input perturbations to the chain decay exponentially (with the length of the chain). Chain stability analysis tells us how vehicles under bilateral control will act in traffic when mixed with cars driven by human drivers. It shows that self-driving cars using bilateral control can reduce traffic flow instabilities in mixed traffic. Indeed, chains of BCM vehicles become perturbation-consuming dampers when inserted in traffic, since they split chains of human-driven vehicles and prevent perturbations from being transmitted from one chain of car-following cars to the next. Thus, today's traffic can be improved greatly by the insertion of BCM vehicles. The simulation results validate the theoretical analysis.
Bookmarks Related papers MentionsView impact
IEEE Transactions on Automatic Control
Bookmarks Related papers MentionsView impact
ABSTRACT
Bookmarks Related papers MentionsView impact
Proceedings. 1986 IEEE International Conference on Robotics and Automation, 1986
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Science News, 1986
Bookmarks Related papers MentionsView impact
Science News, 1978
Bookmarks Related papers MentionsView impact