Bijoy Ghosh
Department of Systems Science and Mathematics
Washington University

Parameter Estimation with Vision and Range

The problem of estimating the structure of objects moving relative to a camera and a laser range finder, has been the subject matter of great interest for well over two decades with applications in mobile robotics and aerospace. To study this class of estimation problem, the role of a homogeneous dynamical system will be emphasized leading to a criterion as to what extent parameters can be identified. Dynamics of feature points, lines and algebraic curves in space, all has this flavor with varying degree of complexity. Overall, this talk emphasizes the role of dynamical systems theory in mobile robotics and machine vision.