Decidability of robot positioning tasks using stereo vision systems

J. P. Hespanha, Z. Dodds, Gregory Hager, A. S. Morse

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

Conditions are given which enable one to decide on the basis of images of point features observed by an imprecisely modeled two-camera stereo vision system, whether or not a prescribed robot positioning task has been accomplished with precision. It is shown that for a stereo vision system whose two-camera model is known only up to a projective transformation, one can decide with the available data whether or not such a positioning task has been accomplished, just in case the function which specifies the task is a projective invariant. It is then shown that, under suitable technical conditions, every task with this property can be constructed from primitive tasks by using only a small number of distinct operations.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherIEEE
Pages3736-3741
Number of pages6
Volume4
StatePublished - 1998
Externally publishedYes
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998

Other

OtherProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC)
CityTampa, FL, USA
Period12/16/9812/18/98

Fingerprint

Computability and decidability
Stereo vision
Cameras
Robots

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Hespanha, J. P., Dodds, Z., Hager, G., & Morse, A. S. (1998). Decidability of robot positioning tasks using stereo vision systems. In Proceedings of the IEEE Conference on Decision and Control (Vol. 4, pp. 3736-3741). IEEE.

Decidability of robot positioning tasks using stereo vision systems. / Hespanha, J. P.; Dodds, Z.; Hager, Gregory; Morse, A. S.

Proceedings of the IEEE Conference on Decision and Control. Vol. 4 IEEE, 1998. p. 3736-3741.

Research output: Chapter in Book/Report/Conference proceedingChapter

Hespanha, JP, Dodds, Z, Hager, G & Morse, AS 1998, Decidability of robot positioning tasks using stereo vision systems. in Proceedings of the IEEE Conference on Decision and Control. vol. 4, IEEE, pp. 3736-3741, Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC), Tampa, FL, USA, 12/16/98.
Hespanha JP, Dodds Z, Hager G, Morse AS. Decidability of robot positioning tasks using stereo vision systems. In Proceedings of the IEEE Conference on Decision and Control. Vol. 4. IEEE. 1998. p. 3736-3741
Hespanha, J. P. ; Dodds, Z. ; Hager, Gregory ; Morse, A. S. / Decidability of robot positioning tasks using stereo vision systems. Proceedings of the IEEE Conference on Decision and Control. Vol. 4 IEEE, 1998. pp. 3736-3741
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