The Robotics Institute

Carnegie Mellon Robotics Institute

A novel paradigm for the synthesis of convergent axis stereo geometries is presented. This paradigm incorporates constraints that represent task-oriented properties that can be easily derived in many applications of stereo-ranging, particularly those involving manipulation. Given these properties, a solution that selects the optimal design parameters, in the sense of accuracy, under the given constraints is presented. Results of this algorithm are discussed and analyzed in terms of the optimality of the minimum area technique used in the derivation.

Keywords

Parallel Axis Stereo, Convergent Axis Stereo, Geometric Configuration, Manipulation

Notes

Sponsor: Department of Energy

Grant ID: DE-AC05-84OR21400

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): Pioneer

Number of pages: 5

Text Reference

Scott Thayer and Christopher S. Gourley, "Designing Stereo Heads Using Task Domain Constraints," Proceedings of ICPR, 1996, pp. 820-824.

BibTeX Reference

@inproceedings{Thayer_1996_3752,
   author = "Scott Thayer and Christopher S. Gourley",
   title = "Designing Stereo Heads Using Task Domain Constraints",
   booktitle = "Proceedings of ICPR",
   pages = "820-824",
   publisher = "IEEE",
   year = "1996",
}

The Robotics Institute

Menu