The Confluence of Vision and Control

1. Front Matter

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2. Research issues in vision and control

   • Gregory D. Hager, David J. Kriegman, A. Stephen Morse

   Pages 1-10

3. Visual homing: Surfing on the epipoles

   • Ronen Basri, Ehud Rivlin, Ilan Shimshoni

   Pages 11-23

4. Role of active vision in optimizing visual feedback for robot control

   • Rajeev Sharma

   Pages 24-40

5. An alternative approach for image-plane control of robots

   • Michael Seelinger, Steven B. Skaar, Matthew Robinson

   Pages 41-65

6. Potential problems of stability and convergence in image-based and position-based visual servoing

   • François Chaumette

   Pages 66-78

7. What can be done with an uncalibrated stereo system?

   • João Hespanha, Zachary Dodds, Gregory D. Hager, A. S. Morse

   Pages 79-89

8. Visual tracking of points as estimation on the unit sphere

   • Alessandro Chiuso, Giorgio Picci

   Pages 90-105

9. Extending visual servoing techniques to nonholonomic mobile robots

   • Dimitris P. Tsakiris, Patrick Rives, Claude Samson

   Pages 106-117

10. A lagrangian formulation of nonholonomic path following

    • Ruggero Frezza, Giorgio Picci, Stefano Soatto

    Pages 118-133

11. Vision guided navigation for a nonholonomic mobile robot

    • Yi Ma, Jana Kovsecká, Shankar Sastry

    Pages 134-145

12. Design, delay and performance in gaze control: Engineering and biological approaches

    • Peter Corke

    Pages 146-158

13. The separation of photometry and geometry via active vision

    • Ruzena Bajcsy, Max Mintz

    Pages 159-170

14. Vision-based system identification and state estimation

    • William A. Wolovich, Mustafa Unel

    Pages 171-182

15. Visual tracking, active vision, and gradient flows

    • Allen Tannenbaum, Anthony Yezzi

    Pages 183-194

16. Visual control of grasping

    • Billibon H. Yoshimi, Peter K. Allen

    Pages 195-209

17. Dynamic vision merging control engineering and AI methods

    • Ernst D. Dickmanns

    Pages 210-229

18. Real-time pose estimation and control for convoying applications

    • R. L. Carceroni, C. Harman, C. K. Eveland, C. M. Brown

    Pages 230-243

19. Visual routines for vehicle control

    • Garbis Salgian, Dana H. Ballard

    Pages 244-256

20. Microassembly of micro-electro-mechanical systems (MEMS) using visual servoing

    • John Feddema, Ronald W. Simon

    Pages 257-272

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.

• Tracking
• computer vision
• control
• control engineering
• control theory
• feedback
• geometry
• image processing
• photometry
• robot
• robotics
• stability
• system identification
• Engineering Economics
• complexity

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