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 language | English (US) |
|---|---|
| Pages (from-to) | 3736-3741 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 4 |
| State | Published - Dec 1 1998 |
| Externally published | Yes |
| Event | Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA Duration: Dec 16 1998 → Dec 18 1998 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization