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Decidability of robot positioning tasks using stereo vision systems

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4 Author(s)
Hespanha, J.P. ; Center for Comput. Vision & Control, Yale Univ., New Haven, CT, USA ; Dodds, Z. ; Hager, G.D. ; Morse, A.S.

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

Published in:

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on  (Volume:4 )

Date of Conference:

16-18 Dec 1998