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System-Theoretic Aspects of Dynamic Vision

Frezza, Ruggero and Perona, Pietro and Picci, Giorgio and Soatto, Stefano (1995) System-Theoretic Aspects of Dynamic Vision. In: Trends in Control: A European Perspective. Springer London , London, pp. 349-383. ISBN 9781447130635.

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Our aim in this minicourse is twofold. On one hand, we aim to show that the introduction of computer vision in control systems, i.e. “Vision in the Loop”, raises exciting and yet unexplored problems in system theory. On the other hand, we explain how tools from control and estimation theory are, nowadays applied [3, 6, 7, 26, 27, 38, 54, 57, 63, 66] to “Dynamic Vision” problems with rather encouraging results in traditionally difficult applications, such as autonomous vehicle navigation [17, 18, 19], vision-based tracking and servo [9, 35, 36, 50], vision-based manipulation [5, 35, 36], docking [18, 42], vision-based planning [12], active sensing [67]. The course is therefore divided in two parts. In the first part, we shall pose two fundamental dynamic vision problems, namely 3-D motion and scene structure recovery, in a system theoretical framework. In the second part, we shall illustrate some relevant applications of dynamic vision to control systems.

Item Type:Book Section
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Perona, Pietro0000-0002-7583-5809
Additional Information:© Springer-Verlag London Limited 1995. This work has been funded by the California Institute of Technology, a scholarship from the University of Padova, a fellowship from the "A. Gini" Foundation and grant ASI-RS-103 from the Italian Space Agency.
Funding AgencyGrant Number
University of PadovaUNSPECIFIED
"A. Gini" FoundationUNSPECIFIED
Agenzia Spaziale Italiana (ASI)ASI-RS-103
Subject Keywords:Image Plane; Singular Value Decomposition; Motion Estimation; Rotation Matrix; Rigid Motion
Record Number:CaltechAUTHORS:20190328-155333695
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:94261
Deposited By: George Porter
Deposited On:28 Mar 2019 23:11
Last Modified:16 Nov 2021 17:03

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