Geometric Reasoning for Perception and Action

Workshop. Grenoble, France, September 16-17, 1991. Selected Papers
1993
ISBN: 978-3-540-57132-2
Verlag: Springer Berlin Heidelberg

Buch, Englisch, Band 708, 288 Seiten, Paperback, Format (B × H): 155 mm x 235 mm, Gewicht: 452 g

Reihe: Lecture Notes in Computer Science

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.

Zielgruppe

Research

Autoren/Hrsg.

Laugier, Christian

Fachgebiete

• Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
• Wirtschaftswissenschaften Betriebswirtschaft Bereichsspezifisches Management Produktionsmanagement, Qualitätskontrolle
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz Wissensbasierte Systeme, Expertensysteme
• Mathematik | Informatik EDV | Informatik Programmierung | Softwareentwicklung Grafikprogrammierung
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz Computer Vision
• Technische Wissenschaften Technik Allgemein Betriebswirtschaft für Ingenieure

Inhaltsverzeichnis

Shortest paths of bounded curvature in the plane.- Kinodynamic planning in a structured and time-varying workspace.- Motion planning for a non-holonomic mobile robot on 3-dimensional terrains.- Optimal motion planning of a mobile robot on a triangulated terrain model.- Landmark-based robot motion planning.- Using genetic algorithms for robot motion planning.- Fast mobile robots in unstructured environments.- A new approach to visual servoing in robotics.- Geometric solutions to some 3D vision problems.- Geometrical representation of shapes and objects for visual perception.- Perceptual grouping for scene interpretation in an active vision system.- Incremental free-space modelling from uncertain data by an autonomous mobile robot.- Matching 3-D smooth surfaces with their 2-D projections using 3-D distance maps.- A new physically based model for efficient tracking and analysis of deformations.- From splines and snakes to snake splines.