Optimal control of camera mounted robots in order to maximize information

Manjula S. Sugathadasa, Bijoy Ghosh, Wijesuriya P. Dayawansa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider the problem of optimal control of two sensory robots with on board cameras from the viewpoint of maximizing the accuracy of imaging of a set of moving targets. Both calibrated and uncalibrated camera systems are considered, and a performance index in the form of the integral of the error covariance of the reconstructed images, is suggested. In the uncalibrated case image reconstruction is only possible only up to the orbits of the projective linear group, and in this case we treat the covariance as a two tensor on the projective space. We also discuss the case of three dimensional camera motion under the Lising's constraints, and show how to extend planar results to this case.

Original languageEnglish
Title of host publication1st International Conference on Industrial and Information Systems, ICIIS 2006
Pages63-64
Number of pages2
DOIs
StatePublished - 2006
Event1st International Conference on Industrial and Information Systems, ICIIS 2006 - Peradeniya, Sri Lanka
Duration: Aug 8 2006Aug 11 2006

Publication series

Name1st International Conference on Industrial and Information Systems, ICIIS 2006

Conference

Conference1st International Conference on Industrial and Information Systems, ICIIS 2006
CountrySri Lanka
CityPeradeniya
Period08/8/0608/11/06

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    Sugathadasa, M. S., Ghosh, B., & Dayawansa, W. P. (2006). Optimal control of camera mounted robots in order to maximize information. In 1st International Conference on Industrial and Information Systems, ICIIS 2006 (pp. 63-64). [4155150] (1st International Conference on Industrial and Information Systems, ICIIS 2006). https://doi.org/10.1109/ICIINFS.2006.347121