Decidability of robot positioning tasks using stereo vision systems

J. P. Hespanha, Z. Dodds, G. D. Hager, A. S. Morse

Research output: Contribution to journalConference article

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)
Pages (from-to)3736-3741
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume4
StatePublished - Dec 1 1998
Externally publishedYes
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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