language: en

What Tasks Can Be Performed with an Uncalibrated Stereo Vision System?

J. P. Hespanha, Z. Dodds, G. D. Hager, and A. S. Morse
Center for Computational Vision and Control c/o Computer Science Department
P.O. Box 208285 Yale University New Haven, CT, 06520

[Phone: (203) 432-6432]

E-mail: (gregory.hager, joao.hespanha, zachary.dodds, as.morse)@yale.edu

Abstract This article studies the following question: "When is it possible to decide, on the basis of images of point features observed by an imprecisely modeled two-camera stereo vision system, whether or not a prescribed robot positioning task has been accomplished with precision?" It is shown that for a stereo vision system with known epipo-lar geometry, whether or not such a positioning task has been accomplished can be decided with available data, just in case the task function which specifies the task is a projective invariant.

[This research was supported by the National Science Foundation, the Army Research Office, and the Air Force Office of Scientific Research]