Task specification and monitoring for uncalibrated hand/eye coordination

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

Task specification and monitoring for uncalibrated hand/eye coordination

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

Research output: Contribution to journal › Conference article › peer-review

Abstract

Most of the work in robotic manipulation and visual servoing has emphasized how to specify and perform particular tasks. Recent results have formally shown what tasks are possible with uncalibrated imaging systems. This paper extends those results by characterizing in a constructive manner the set of tasks which can be performed with different types of uncalibrated camera models. The tasks' resulting structure provides a principled foundation both for a specification language and for automatic execution monitoring in uncalibrated environments.

Original language	English (US)
Pages (from-to)	1607-1613
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
State	Published - Jan 1 1999
Externally published	Yes
Event	Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: May 10 1999 → May 15 1999

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Cite this

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title = "Task specification and monitoring for uncalibrated hand/eye coordination",

abstract = "Most of the work in robotic manipulation and visual servoing has emphasized how to specify and perform particular tasks. Recent results have formally shown what tasks are possible with uncalibrated imaging systems. This paper extends those results by characterizing in a constructive manner the set of tasks which can be performed with different types of uncalibrated camera models. The tasks' resulting structure provides a principled foundation both for a specification language and for automatic execution monitoring in uncalibrated environments.",

author = "Z. Dodds and Hager, {G. D.} and Morse, {A. S.} and Hespanha, {J. P.}",

year = "1999",

month = jan,

day = "1",

language = "English (US)",

volume = "2",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 ; Conference date: 10-05-1999 Through 15-05-1999",

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AU - Dodds, Z.

AU - Hager, G. D.

AU - Morse, A. S.

AU - Hespanha, J. P.

PY - 1999/1/1

Y1 - 1999/1/1

N2 - Most of the work in robotic manipulation and visual servoing has emphasized how to specify and perform particular tasks. Recent results have formally shown what tasks are possible with uncalibrated imaging systems. This paper extends those results by characterizing in a constructive manner the set of tasks which can be performed with different types of uncalibrated camera models. The tasks' resulting structure provides a principled foundation both for a specification language and for automatic execution monitoring in uncalibrated environments.

AB - Most of the work in robotic manipulation and visual servoing has emphasized how to specify and perform particular tasks. Recent results have formally shown what tasks are possible with uncalibrated imaging systems. This paper extends those results by characterizing in a constructive manner the set of tasks which can be performed with different types of uncalibrated camera models. The tasks' resulting structure provides a principled foundation both for a specification language and for automatic execution monitoring in uncalibrated environments.

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M3 - Conference article

AN - SCOPUS:0032668021

SN - 1050-4729

VL - 2

SP - 1607

EP - 1613

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99

Y2 - 10 May 1999 through 15 May 1999

ER -

Task specification and monitoring for uncalibrated hand/eye coordination

Abstract

ASJC Scopus subject areas

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