Collision-model based Motion Planner for Multi-agents in a Factory.

An interlace to progressive scan video signal conversion system interpolates lines between respective lines of upper and lower fields which constitute an interlace-scan image frame to produce lines of a progressive-scan image frame. The produced lines have effective spatial and temporal positions between the respective lines of the lower field and the lines of the upper field. One line from the upper field is interpolated with two lines from the lower field which are immediately above and immediately below the one line in the interlaced frame in order to generate two lines for the progressive frame. Optionally, the interlace-scan to progressive-scan method is applied only to relatively low-frequency components of the luminance signal with the higher frequency luminance signal components being selected from one of the two interlaced fields and either line-doubled or interpolated and line-doubled before being added to the progressive-scan low-frequency luminance signal components. The chrominance components of the interlace scan video signal from one field are line doubled, separated into color-difference signal components and applied to a matrix with the progressive-scan luminance signal components.