Geometry is a powerful tool to solve a great number of problems in robotics and computer vision. Impressive results have been obtained in these fields in the last decade. It is a new challenge to solve problems of the actual world which require the ability to reason about uncertainty and complex motion constraints by combining geometric, kinematic, and dynamic characteristics. A necessary step is to develop appropriate geometric reasoning techniques with reasonable computational complexity. This volume is based on a workshop held in Grenoble, France,in September 1991. It contains selected contributions on several important areas in the field of robotics and computer vision. The four chapters cover the following areas: - motion planning with kinematic and dynamic constraints, - motion planning and control in the presence of uncertainty, - geometric problems related to visual perception, -numerical problems linked to the implementation of practical algorithms for visual perception.
Author(s): Jean-Daniel Boissonnat, André Cérézo (auth.), Christian Laugier (eds.)
Series: Lecture Notes in Computer Science 708
Edition: 1
Publisher: Springer-Verlag Berlin Heidelberg
Year: 1993
Language: English
Pages: 288
Tags: Computer Graphics; Artificial Intelligence (incl. Robotics); Automation and Robotics; Engineering Economics, Organization, Logistics, Marketing; Control Engineering
Shortest paths of bounded curvature in the plane....Pages 3-18
Kinodynamic planning in a structured and time-varying workspace....Pages 19-37
Motion planning for a non-holonomic mobile robot on 3-dimensional terrains....Pages 38-50
Optimal motion planning of a mobile robot on a triangulated terrain model....Pages 51-65
Landmark-based robot motion planning....Pages 69-83
Using genetic algorithms for robot motion planning....Pages 84-93
Fast mobile robots in unstructured environments....Pages 94-105
A new approach to visual servoing in robotics....Pages 106-136
Geometric solutions to some 3D vision problems....Pages 139-162
Geometrical representation of shapes and objects for visual perception....Pages 163-182
Perceptual grouping for scene interpretation in an active vision system....Pages 183-199
Incremental free-space modelling from uncertain data by an autonomous mobile robot....Pages 200-213
Matching 3-D smooth surfaces with their 2-D projections using 3-D distance maps....Pages 217-238
A new physically based model for efficient tracking and analysis of deformations....Pages 239-263
From splines and snakes to snake splines....Pages 264-281
