Handling Discontinuities in Stereovisual Alignment Tasks

Zachary Dodds, Gregory D. Hager

Research output: Contribution to conferencePaperpeer-review


For more than a decade the capabilities of incompletely calibrated stereo systems have been formally characterized. These characterizations provide theoretical limits on the tasks that visually guided robotic systems can achieve. Within these limits there are several feature-alignment tasks whose image-space representations are inherently discontinuous, including collinearity and coplanarity. This paper presents smooth, locally convergent imagespace approximations for such tasks. In addition, we propose the general notion of a "safe" image-based approximation to spatial tasks, in which complete image-space characterization is sacrificed in return for partial characterization along with local controllability. As a result, this article bridges the gap between theoretically specifiable tasks and locally controllable tasks for common stereovisual servoing systems.

Original languageEnglish (US)
Number of pages6
StatePublished - Dec 26 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003


Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritoryUnited States
CityLas Vegas, NV

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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