A general technique for the recovery of signi cant
image features is presented. The technique is based on
the mean shift algorithm, a simple nonparametric pro-
cedure for estimating density gradients. Drawbacks of
the current methods (including robust clustering) are
avoided. Feature space of any nature can be processed,
and as an example, color image segmentation is dis-
cussed. The segmentation is completely autonomous,
only its class is chosen by the user. Thus, the same
program can produce a high quality edge image, or pro-
vide, by extracting all the signi cant colors, a prepro-
cessor for content-based query systems. A 512 512
color image is analyzed in less than 10 seconds on a
standard workstation. Gray level images are handled
as color images having only the lightness coordinate
In 1960, R.E. Kalman published his famous paper describing a recursive solution
to the discrete-data linear filtering problem. Since that time, due in large part to advances
in digital computing, the Kalman filter has been the subject of extensive research
and application, particularly in the area of autonomous or assisted
navigation.
In 1960, R.E. Kalman published his famous paper describing a recursive solution to the discretedata
linear filtering problem [Kalman60]. Since that time, due in large part to advances in digital
computing, the
Kalman filter
has been the subject of extensive research and application,
particularly in the area of autonomous or assisted navigation. A very “friendly” introduction to the
general idea of the Kalman filter can be found in Chapter 1 of [Maybeck79], while a more complete
introductory discussion can be found in [Sorenson70], which also contains some interesting
historical narrative.
Abstract: This thesis describes the incremental development and main features of a synthetic multi-agent system called UvA Trilearn 2001. UvA Trilearn 2001 is a robotic soccer simulation team that consists of eleven autonomous software agents. It operates in a physical soccer simulation system called soccer server which enables teams of autonomous software agents to play a game of soccer against each other.
In the next generation of wireless communication systems, there will be a need for the rapid
deployment of independent mobile users. Significant examples include establishing survivable, efficient,
dynamic communication for emergency operations, disaster relief efforts, and military networks. Such
network scenarios cannot rely on centralized and organized connectivity, and can be conceived as
applications of mobile ad hoc networks. A MANET is an autonomous collection of mobile users that
communicate over relatively bandwidth constrained wireless links. Since the nodes are mobile, the
network topology may change rapidly and unpredictably over time. The network is decentralized, where
all network activity including discovering the
In the next generation of wireless communication systems, there will be a need for the rapid
deployment of independent mobile users. Significant examples include establishing survivable, efficient,
dynamic communication for emergency operations, disaster relief efforts, and military networks. Such
network scenarios cannot rely on centralized and organized connectivity, and can be conceived as
applications of mobile ad hoc networks. A MANET is an autonomous collection of mobile users that
communicate over relatively bandwidth constrained wireless links. Since the nodes are decentralized, where
all network activity including discovering the
It was only a few years ago that “ubiquitous connectivity” was recognized as the future of
wireless communication systems. In the era of ubiquitous connectivity, it was expected that
the broadband mobile Internet experience would be pervasive, and seamless connectivity on
a global scale would be no surprise at all. The quality of service would be guaranteed no
matter when/where/what the users wanted with the connectivity. Connectivity would even be
extended to object-to-object communication, where no human intervention was required. All
objects would become capable of autonomous communication.
