Geometric reasoning for perception and action : Workshop, Grenoble, France, September 16-17, 1991 : selected papers
著者
書誌事項
Geometric reasoning for perception and action : Workshop, Grenoble, France, September 16-17, 1991 : selected papers
（Lecture notes in computer science, 708）
Springer-Verlag, c1993
- : gw
- : us
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注記
"A workshop on this topic was held at LIFIA-IRIMAG in Grenoble (France) on September 16-17, 1991. This workshop was jointly organized by LIFIA-IRIMAG and PRC-IA."--Pref
Includes bibliographical references
内容説明・目次
内容説明
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.
目次
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.
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