A procedure is presented to estimate the unconstrained three-dimensional location and orientation of an object with a known shape when it is visible in a single image. Using a generalized Hough transform, all six parameters of the object position are estimated from the distribution of values determined by matching triples of points on the object to possibly corresponding triples in the image. Most likely candidates for location are found, and then the remaining rotational parameters are evaluated. Two solutions are generally admitted to the distribution by every match of triangles. The number of possible matches is reduced by checking a simple geometric relation among triples. Even with partial occlusion, experiments indicate that the procedure is very reliably accurate, although optimization can further improve estimates of the parameters.>

article Free Access Share on Software for Doubled-Precision Floating-Point Computations Author: Seppo Linnainmaa Lappeenranta University of Technology, Box 20, SF-53851 Lappeenranta 85, Finland Lappeenranta University of Technology, Box 20, SF-53851 Lappeenranta 85, FinlandView Profile Authors Info & Claims ACM Transactions on Mathematical SoftwareVolume 7Issue 3Sept. 1981 pp 272–283https://doi.org/10.1145/355958.355960Published:01 September 1981Publication History 24citation597DownloadsMetricsTotal Citations24Total Downloads597Last 12 Months19Last 6 weeks0 Get Citation AlertsNew Citation Alert added!This alert has been successfully added and will be sent to:You will be notified whenever a record that you have chosen has been cited.To manage your alert preferences, click on the button below.Manage my AlertsNew Citation Alert!Please log in to your account Save to BinderSave to BinderCreate a New BinderNameCancelCreateExport CitationPublisher SiteeReaderPDF

New results are given on the distribution of trailing digits for logarithmically distributed numbers and on error in floating-point multiplication Some of the results have application to computer design In particular, there are certain values of the base (indeed,/3 = 2, 4, 6, and sometimes 8, but NOT 16) which, when carefully balanced with other design parameters, minimize the mean multiphcative error For these special minimizing situations, it suffices to have only one guard flit provided that posmormahzatlon occurs after symmetric rounding KEY WORDS AND PHRASES computer arithmetic, normalization options, guard digits, nonleadmg digits, trailing digits, floating-point multiplication, floating-point numbers, floating-point precision and stgmficance, fraction error, roundoff error, mean and standard deviation of errS, logarithmically distributed numbers, uniformly distributed numbers CR CATEGORIES 5 1 i, 5 5, 6 32 X --flE.F where E = integer and fl-1 < F< 1. E is the exponent and F is the fraction.The above implies that flF = j~ l°gBX(rn°d 1), E --[logaX] + 1 where [ ] means integer part.Most of the time we shall assume that our numbers X are chosen at random from the This paper was presented at the SIAM 1977 National Fall Meeting, Albuquerque, NM The work of J Bustoz and A Feldstem was supported in part by an Arizona State University