{"type":"ScholarlyArticle","title":"An Uncertainty Model of Stereo Vision and its Application to Vision-Motion Planning of Robot","authors":[{"name":"Jun Miura","slug":"jun-miura","given":"Jun","family":"Miura","affiliation":""},{"name":"Yoshiaki Shirai","slug":"yoshiaki-shirai","given":"Yoshiaki","family":"Shirai","affiliation":""}],"abstract":"This paper describes an uncertainty model of stereo vision and its application to a visionmotion planning for a mobile robot. In general, recognition of an environment requires much computation and the recognition result includes uncertainty. In planning, therefore, a trade-off must be considered between the cost of visual recognition and the effect of information obtained by recognition. Such a trade-off must be formulated on the basis of a model of vision which describes the required time for visual processing and uncertainty of information to be obtained . In this paper, an uncertainty model of stereo vision is described, in which not only the quantization error but also false matchings of features are considered. A strategy for resolving ambiguous matchings is also proposed . Using the uncertainty model in the planner , an optimal plan for a real world problem is generated . An efficient solving strategy is also described which employs a pruning method based on the lower bound of the total cost calculated by the assumption of perfect sensor information .","doi":null,"url":"https://ijcai.org/proceedings/1993/224","pdf":"https://ijcai.org/proceedings/1993/0224.pdf","markdown":"https://ijcai.org/proceedings/1993/224.md","bibtex":"https://ijcai.org/proceedings/1993/bibtex/224","volume":{"slug":"1993","title":"Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1993","url":"https://ijcai.org/proceedings/1993/","year":1993,"location":"Chambéry, France","dates":"","editors":"Ruzena Bajcsy","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics and Vision","track":"Robotics and Vision","number":224,"pages":{"first":1618,"last":1622},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}