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C00002 00002	1.  The first part  of the year was spent mainly  working on removing
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1.  The first part  of the year was spent mainly  working on removing
bugs from  Gunnar's body separation program, adjusting its parameters
for better performance, machine coding inner loops for greater speed,
and adding new features to increase its use.  Also, the old Tenenbaum
line  verifier was reworked and modified to  work on stored images in
addition to live  pictures in order to  someday use it with  Gunnar's
program.  Complete documentation of Gunnar's program was developed.

2.  Later in the year I worked with Arthur on rewritting Ram's stereo
program to include  a corner finder  and recoded much  of it for  the
PDP-11.  A paper  on that project has been written  and should appear
shortly.   As part of this work, I  recoded the 3x3 directed gradient
operator and a variance operator for  the 11, in addition to a  small
11 monitor  and a software interface  for the PDP-10.   I also worked
with  Bo in developing  a correlation operator  on the SPS-41.   As a
part of this project, a  stereo version of our general  picture input
program was written.

3.   Extensive investigation was  made into the  calibration problems
with our TV  cameras and, as  a result, a  new calibration system  is
partially coded,  awaiting the completion  of the new  hand/eye table
and electronics.  This program will, it is hoped, solve some of these
problems.  A test  program for checking out  the TV cameras in  their
new environments is  also partially written and is being  used now in
preliminary testing.

4.   I spent a little time  testing various edge operators which came
to my attention  during the year,  including a 5x5 directed  gradient
operator which I designed.  A paper on directed gradient operators is
being discussed with several other users.

5.  A movie on various arm projects has been filmed and is now  ready
for final editing and the addition of a sound track.

6.  Minor alterations and upgrading of the hand/eye library.