The confluence of vision and control PDF
Preview The confluence of vision and control
Lecture Notes in Control and Information Sciences 237 Editor: M. Thoma regnirpS London Berlin Heidelberg New York Barcelona Budapest Hong Kong Milan Paris Santa Clara Singapore Tokyo divaD .J ,namgeirK yrogerG .D regaH dna .A nehpetS esroM )sdE( ehT ecneulfnoC of noisiV dna lortnoC ~ regnirpS Series Advisory Board A. Bensoussan • M.J. Grimble • P. Kokotovic • H. Kwakernaak J.L. Massey • Y.Z. Tsypkin Editors David J. Kriegman PhD Gregory D. Hager PhD A. Stephen Morse PhD Departments of Electrical Engineering and Computer Science, Yale University PO Box 208267 Yale Station, New Haven CT 06520-8267, USA ISBN 1-85233-025-2 Springer-Verlag Berlin Heidelberg New York British Library Cataloguing in Publication Data The confluence of vision and control. - (Lecture notes in control and information sciences ; )732 1.Robot vision 2.Robots - Control systems I.Kriegman, David J. II.Hager, Gregory D., 1961- III.Morse, A. Stephen, 1939- 629.8'92 ISBN 1852330252 Library of Congress Cataloging-in-Publication Data A catalog record for this book is available from the Library of Congress Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms oflicences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. © Springer-Verlag London Limited 8991 Printed in Great Britain The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Typesetting: Camera ready by editors Printed and bound at the Atheneum Press Ltd., Gateshead, Tyne & Wear 6913830-543210 Printed on acid-free paper Preface The past decade has seen an increasing interest in the areas of real-time vi- sion, visual tracking, active focus of attention in vision, vehicle navigation, and vision-based control of motion. Although these topics encompass a di- verse set of problems spanning the fields of vision, control, robotics, and artificial intelligence, they all share a common focus: the application or pro- cessing of visual information in a way which entails the design and analysis of algorithms incorporating concepts studied in the field of control. This collection emerged from the Block Island Workshop on Vision and Control, held from June 23-27, 1997 on Block Island, Rhode Island. The workshop, organized by J. Malik and .S Sastry from the University of Cal- ifornia Berkeley, and G. Hager, D. Kriegman, and A.S. Morse from Yale University, included participants from the U.S., Canada, Australia, France, Germany, Israel and Italy, and in the fields of computer vision, control the- ory, and robotics. It provided a forum for presenting new theoretical results, empirical investigations, and applications as well as an opportunity to discuss future directions for research. The contributions contained in this collection touch on many of the same topics, from foundational issues such as estima- tion, feedback, stability, delay, and task encoding, to the use of vision for control in the context of visual servoing and non-holonomic systems, the use of control within vision processes, and the application of vision and control in vehicle navigation, grasping, and micro-electro-mechanical systems (MEMS). We have also included a summary of the discussions which took place at the workshop. The Block Island Workshop on Vision and Control was generously sup- ported by the National Science Foundation, the Army Research Office, and Yale University Faculty of Engineering. Table of Contents Preface ....................................................... V Research Issues in Vision and Control Gregory D. Hager, David J. Kriegman, and A. Stephen Morse ........ 1 Visual Homing: Surfing on the Epipoles Ronen Basri, Ehud Rivlin, and Ilan Shimshoni ...................... 11 Role of Active Vision in Optimizing Visual Feedback for Robot Control Rajeev Shaxma ................................................. 24 An Alternative Approach for Image-Plane Control of Robots Michael Seelinger, Steven B. Skaar, and Matthew Robinson .......... 41 Potential Problems of Stability and Convergence in Image-Based and Position-Based Visual Servoing Franqois Chaumette ............................................. 66 What Can Be Done with an Uncalibrated Stereo System? Jo~o Hespanha, Zachary Dodds, Gregory D. Hager, and A.S. Morse ... 79 Visual Tracking of Points as Estimation on the Unit Sphere Alessandro Chiuso and Giorgio Picci .............................. 90 Extending Visual Servoing Techniques to Nonholonomic Mobile Robots Dimitris P. Tsakiris, Patrick Rives, and Claude Samson .............. 106 A Lagrangian Formulation of Nonholonomic Path Following Ruggero Frezza, Giorgio Picci, and Stefano Soatto .................. 118 Vision Guided Navigation for a Nonholonomic Mobile Robot Yi Ma, Jana KovseckA, and Shankar Sastry ........................ 134 VIII Table of Contents Design, Delay and Performance in Gaze Control: Engineering and Biological Approaches Peter Corke .................................................... 146 The Separation of Photometry and Geometry Via Active Vision Ruzena Bajcsy and Max Mintz ................................... 159 Vision-Based System Identification and State Estimation William A. Wolovich and Mustafa Unel ............................ 171 Visual Tracking, Active Vision, and Gradient Flows Allen Tannenbaum and Anthony Yezzi, Jr .......................... 183 Visual Control of Grasping Billibon H. Yoshimi and Peter K. Allen ............................ 195 Dynamic Vision Merging Control Engineering and AI Methods Ernst D. Dickmanns ............................................. 210 Real-Time Pose Estimation and Control for Convoying Applications R. L. Carceroni, C. Harman, C. K. Eveland, and C. M. Brown ........ 230 Visual Routines for Vehicle Control Garbis Salgian and Dana H. Ballard ............................... 244 Microassembly of Micro-electro-mechanical Systems (MEMS) using Visual Servoing John Feddema and Ronald W. Simon ............................. 257 The Block Island Workshop: Summary Report Gregory D. Hager, David J. Kriegman, and A. Stephen Morse with con- tributions from P. Allen, D. Forsyth, S. Hutchinson, J. Little, N. Harris McClamroch, A. Sanderson, and .S Skaar .......................... 273 List of Contributors Peter K. Allen Alessandro Chiuso Department of Computer Science Dipartimento di Elettronica e Infor- Columbia University matica New York, NY 10027 USA Universit~ di Padova [email protected] Padua, Italy [email protected] Ruzena Bajcsy GRASP Laboratory Christopher M. Brown University of Pennsylvania Department of Computer Science Philadelphia, PA 19104 USA University of Rochester [email protected] Rochester, NY 14627 USA [email protected] Dana H. Ballard Computer Science Department Peter Corke University of Rochester CSIRO Manufacturing Science and Rochester, NY 14627 USA Technology [email protected] PO Box 388 Kenmore, 4069 Australia Ronen Basri [email protected] Department of Applied Math The Weizmann Inst. of Science Ernst D. Dickmanns Rehovot 76100 Israel Universit~t der Bundeswehr Mfinchen [email protected] D-85577 Neubiberg, Germany [email protected] Rodrigo L. Carceroni Department of Computer Science Zachary Dodds University of Rochester Center for Computational Vision & Rochester, NY 14627 USA Control [email protected] Department of Computer Science Yale University Francois Chaumette New Haven, CT 06520-8285 USA IRISA / INRIA Rennes [email protected] Campus de Beaulieu 53 240 Rennes cedex, France Francois.ChaumetteQirisa.fr X List of Contributors Chris K. Eveland David J. Kriegman Department of Computer Science Center for Computational Vision & University of Rochester Control Rochester, NY 14627 USA Dept. of Electrical Engineering [email protected] Yale University New Haven, CT 06520-8285 USA Dr. John Feddema [email protected] Sandia National Laboratories PO Box 5800, SM 3001 Yi Ma Albuquerque, NM 87185 USA Electronics Research Laboratory [email protected] University of California at Berkeley Berkeley, CA 94720 USA Ruggero Frezza [email protected] Universit~ di Padova via Gradenigo 6a Max Mintz 00153 Padova - Italy GRASP Laboratory frezzaQveronica.dei.unipd.it University of Pennsylvania Philadelphia, PA 19104 USA Gregory D. Hager [email protected] Center for Computational Vision & Control A. Stephen Morse Department of Computer Science Center for Computational Vision & Yale University Control New Haven, CT 06520-8285 USA Dept. of Electrical Engineering hagerQcs.yale.edu Yale University New Haven, CT 06520-8267 USA C. Harman [email protected] Department of Computer Science University of Rochester Giorgio Picci Rochester, NY 14627 USA Dipartimento di Elettronica e Infor- matica Jo~o Hespanha Universit~ di Padova Center for Computational Vision Padua, Italy Control [email protected] Dept. of Electrical Engineering Yale University Patrick Rives New Haven, CT 06520-8267 USA INRIA Sophia-Antipolis [email protected] ,4002 Route des Lucioles, B.P. 39 ,20960 Sophia Antipolis Cedex Jana Ko~eck~ France Electronics Research Laboratory [email protected] University of California at Berkeley Berkeley, CA 94720 USA j [email protected] List of Contributors IX Ehud Rivlin 713 Pond Laboratory, Department of Computer Science University Park, PA 6016-20861 The Technion [email protected] Haifa 32000 Israel [email protected] Dr. Ronald W. Simon Sandia National Laboratories Matthew Robinson PO Box 5800, SM 1003 Department of Aerospace and Me- Albuquerque, NM 87185 USA chanical Engineering Fitzpatrick Hall of Engineering Steven B. Skaar University of Notre Dame Department of Aerospace and Me- Notre Dame, Indiana 7365-65564 chanical Engineering [email protected] Fitzpatrick Hall of Engineering University of Notre Dame Garbis Salgian Notre Dame, Indiana 7365-65564 Computer Science Department [email protected] University of Rochester Rochester, NY 14627 USA Stefano Soatto [email protected] Dept. of Electrical Engineering Washington University Claude Samson St. Louis - MO 63130 USA INRIA Sophia-Antipolis [email protected] ,4002 Route des Lucioles, B.P. 39 ,20960 Sophia Antipolis Cedex Ilan Shimshoni France Department of Computer Science [email protected] The Technion Haifa 32000 Israel Shankar Sastry [email protected] Electronics Research Laboratory University of California at Berkeley Allen Tannenbaum Berkeley, CA 94720 USA Department of Electrical and Com- [email protected] puter Engineering University of Minnesota Michael Seelinger Minneapolis, MN 55455 Department of Aerospace and Me- [email protected] chanical Engineering Fitzpatrick Hall of Engineering Dimitris P. Tsakiris University of Notre Dame INRIA Sophia-Antipolis Notre Dame, Indiana 7365-65564 2004, Route des Lucioles, B.P. 39 Michael.J.Seelinger. 1 @nd.edu ,20960 Sophia Antipolis Cedex France Rajeev Sharma [email protected] Department of Computer Science & Engineering, The Pennsylvania State University
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