Task specification and monitoring for uncalibrated hand/eye coordination

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

Research output: Contribution to journalConference article

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 languageEnglish (US)
Pages (from-to)1607-1613
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
StatePublished - Jan 1 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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