What Tasks can be Performed with an Uncalibrated Stereo Vision System?

摘要

This article studies the following question: “When is it possible to decide, on the basis of images of point-features observed by an imprecisely modeled two-camera stereo vision system, whether or not a prescribed robot positioning task has been precisely accomplished?” Results are shown for three camera model classes: injective cameras, weakly calibrated projective cameras, and uncalibrated projective cameras. In particular, given a weakly calibrated stereo pair, it is shown that a positioning task can be precisely accomplished if and only if the task specification is invariant to projective transformations. It is shown that injective and uncalibrated projective cameras can accomplish fewer tasks, but are still able to accomplish tasks involving point coincidences.