Geometric Reasoning for Perception and Action

Geometry is a powerful tool to solve a great number of problems in robotics and computer vision. Impressive results have been obtained in these fields in the last decade. It is a new challenge to solve problems of the actual world which require the ability to reason about uncertainty and complex motion constraints by combining geometric, kinematic, and dynamic characteristics. A necessary step is to develop appropriate geometric reasoning techniques with reasonable computational complexity.
This volume is based on a workshop held in Grenoble, France,in September 1991. It contains selected
contributions on several important areas in the field of robotics and computer vision. The four chapters cover the following areas:
- motion planning with kinematic and dynamic constraints,
- motion planning and control in the presence of uncertainty,
- geometric problems related to visual perception, -numerical problems linked to the implementation of practical algorithms for visual perception.