What can be done with an uncalibrated stereo system?

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Over the last several years, there has been an increasing appreciation of the impact of control architecture on the accuracy of visual servoing systems. In particular, it is generally acknowledged that so-called image-based methods provide the highest guarantees of accuracy on inaccurately calibrated hand-eye systems. Less clear is the impact of the control architecture on the set of tasks which the system can perform. In this article, we present a formal analysis of control architectures for hand-eye coordination. Specifically, we first state a formal characterization of what makes a task performable under three possible encoding methods. Then, for the specific case of cameras modeled using projective geometry, we relate this characterization to notions of projective invariance and demonstrate the limits of achievable performance in this regard.

Original languageEnglish (US)
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1366-1372
Number of pages7
ISBN (Print)078034300X
DOIs
StatePublished - Jan 1 1998
Externally publishedYes
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: May 16 1998May 20 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period5/16/985/20/98

ASJC Scopus subject areas

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

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  • Cite this

    Hespanha, J., Dodds, Z., Hager, G. D., & Morse, A. S. (1998). What can be done with an uncalibrated stereo system? In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 1366-1372). [677295] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.677295