TY - GEN
T1 - Optimal control of camera mounted robots in order to maximize information
AU - Sugathadasa, Manjula S.
AU - Ghosh, Bijoy
AU - Dayawansa, Wijesuriya P.
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=50249098010&partnerID=8YFLogxK
U2 - 10.1109/ICIINFS.2006.347121
DO - 10.1109/ICIINFS.2006.347121
M3 - Conference contribution
AN - SCOPUS:50249098010
SN - 1424403219
SN - 9781424403219
T3 - 1st International Conference on Industrial and Information Systems, ICIIS 2006
SP - 63
EP - 64
BT - 1st International Conference on Industrial and Information Systems, ICIIS 2006
T2 - 1st International Conference on Industrial and Information Systems, ICIIS 2006
Y2 - 8 August 2006 through 11 August 2006
ER -