The Confluence of Vision and Control

The collection of articles presented here, emerged from the Block Island Workshop on Vision and Control that brought together pioneering researchers from around the world. Discussions of new theoretical developments and the empirical validation of techniques and applications, are recorded in this book. Over recent years, robotics, computer vision and control theory researchers have addressed theoretical issues of: real-time vision, visual tracking, the active focus of attention and vision-based control of motion. At the same time, these theoretical insights have been used in applications such as: vision-based autonomous driving, vision-based grasping, human-computer interfaces, control of MEMS systems and medical image processing. From this book the reader will gain an overview of the latest thinking in vision and control, as well as an introduction to many of the techniques used in this area.

A comprehensive overview of current findings, backed up by experiments Focuses upon recent trends and speculates on future ones Refers to the 1997 Block Island Workshop on vision and control

Auteur
Stephen A. Morse, PhD, Associate Director for Science, Bioterrorism Preparedness and Response Program, National Center for Infectious Diseases, Centers for Disease Control and Prevention, Atlanta, GA

Contenu
Research issues in vision and control.- Visual homing: Surfing on the epipoles.- Role of active vision in optimizing visual feedback for robot control.- An alternative approach for image-plane control of robots.- Potential problems of stability and convergence in image-based and position-based visual servoing.- What can be done with an uncalibrated stereo system?.- Visual tracking of points as estimation on the unit sphere.- Extending visual servoing techniques to nonholonomic mobile robots.- A lagrangian formulation of nonholonomic path following.- Vision guided navigation for a nonholonomic mobile robot.- Design, delay and performance in gaze control: Engineering and biological approaches.- The separation of photometry and geometry via active vision.- Vision-based system identification and state estimation.- Visual tracking, active vision, and gradient flows.- Visual control of grasping.- Dynamic vision merging control engineering and AI methods.- Real-time pose estimation and control for convoying applications.- Visual routines for vehicle control.- Microassembly of micro-electro-mechanical systems (MEMS) using visual servoing.- The block island workshop: Summary report.