Tzachi Dar, Leo Joskowicz, and Ehud Rivlin, ``Understanding mechanical motion: From images to behaviors,'' Artificial Intelligence, vol. 112, pp. 147-179, 1999.

This system produces descriptions of planar fixed axes mechanical motion from image sequences.

• Most machines are combinations of machine elements that can be catalogued.

• Machine vision gives observed motion in images

• Observed motions suggest basic components

• Simultaneous motions suggest relationships

• Component relations are parsed into a description of the machine

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