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Geometric Reasoning for Perception and Action

Workshop. Grenoble, France, September 16-17, 1991. Selected Papers

  • Conference proceedings
  • © 1993

Overview

Editors:
  1. Christian Laugier
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Part of the book series: Lecture Notes in Computer Science (LNCS, volume 708)

Included in the following conference series:

Conference proceedings info: GRPA 1991.

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Table of contents (15 papers)

  1. Front Matter

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  2. Shortest paths of bounded curvature in the plane

    • Jean-Daniel Boissonnat, André Cérézo, Juliette Leblond
    Pages 3-18

  3. Kinodynamic planning in a structured and time-varying workspace

    • Th. Fraichard, C. Laugier
    Pages 19-37

  4. Motion planning for a non-holonomic mobile robot on 3-dimensional terrains

    • Thierry Siméon
    Pages 38-50

  5. Optimal motion planning of a mobile robot on a triangulated terrain model

    • Alain Liégeois, Christophe Moignard
    Pages 51-65

  6. Landmark-based robot motion planning

    • Anthony Lazanas, Jean-Claude Latombe
    Pages 69-83

  7. Using genetic algorithms for robot motion planning

    • Juan Manuel Ahuactzin, El-Ghazali Talbi, Pierre Bessière, Emmanuel Mazer
    Pages 84-93

  8. Fast mobile robots in unstructured environments

    • René Zapata, P. Lépinay
    Pages 94-105

  9. A new approach to visual servoing in robotics

    • Bernard Espiau, François Chaumette, Patrick Rives
    Pages 106-136

  10. Geometric solutions to some 3D vision problems

    • Roger Mohr, Luce Morin
    Pages 139-162

  11. Geometrical representation of shapes and objects for visual perception

    • Jean-Marc Chassery, Annick Montanvert
    Pages 163-182

  12. Perceptual grouping for scene interpretation in an active vision system

    • Bruno Zoppis, Gaëlle Calvary, James L. Crowley
    Pages 183-199

  13. Incremental free-space modelling from uncertain data by an autonomous mobile robot

    • Philippe Moutarlier, Raja Chatila
    Pages 200-213

  14. Matching 3-D smooth surfaces with their 2-D projections using 3-D distance maps

    • Stéphane Lavallée, Richard Szeliski, Lionel Brunie
    Pages 217-238

  15. A new physically based model for efficient tracking and analysis of deformations

    • Chahab Nastar, Nicholas Ayache
    Pages 239-263

  16. From splines and snakes to snake splines

    • F. Leitner, P. Cinquin
    Pages 264-281

  17. Back Matter

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  1. Geometric Reasoning for Perception and Action

Keywords

About this book

Geometry is a powerful tool to solve a great number of problems in robotics and computer vision. Impressive results have been obtained in these fields in the last decade. It is a new challenge to solve problems of the actual world which require the ability to reason about uncertainty and complex motion constraints by combining geometric, kinematic, and dynamic characteristics. A necessary step is to develop appropriate geometric reasoning techniques with reasonable computational complexity. This volume is based on a workshop held in Grenoble, France,in September 1991. It contains selected contributions on several important areas in the field of robotics and computer vision. The four chapters cover the following areas: - motion planning with kinematic and dynamic constraints, - motion planning and control in the presence of uncertainty, - geometric problems related to visual perception, -numerical problems linked to the implementation of practical algorithms for visual perception.

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