Publisher Description

Geometry is a powerful tool to solve a great number ofproblems in robotics and computer vision. Impressive resultshave been obtained in these fields in the last decade. It isa new challenge to solve problems of the actual world whichrequire the ability to reason about uncertainty and complexmotion constraints by combining geometric, kinematic, anddynamic characteristics. A necessary step is to developappropriate geometric reasoning techniques with reasonablecomputational complexity. This volume is based on a workshop held in Grenoble,France,in September 1991. It contains selectedcontributions on several important areas in the field ofrobotics and computer vision. The four chapters cover thefollowing areas:- motion planning with kinematic and dynamic constraints,- motion planning and control in the presence ofuncertainty,- geometric problems related to visual perception,-numerical problems linked to the implementation ofpractical algorithms for visual perception.

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Table of Contents

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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Long Description

Geometry is a powerful tool to solve a great number ofproblems in robotics and computer vision. Impressive resultshave been obtained in these fields in the last decade. It isa new challenge to solve problems of the actual world whichrequire the ability to reason about uncertainty and complexmotion constraints by combining geometric, kinematic, anddynamic characteristics. A necessary step is to developappropriate geometric reasoning techniques with reasonablecomputational volume is based on a workshop held in Grenoble,France,in September 1991. It contains selectedcontributions on several important areas in the field ofrobotics and computer vision. The four chapters cover thefollowing areas:- motion planning with kinematic and dynamic constraints,- motion planning and control in the presence ofuncertainty,- geometric problems related to visual perception,-numerical problems linked to the implementation ofpractical algorithms for visual perception.

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