CISE Research Instrumentation: Combining Vision and Motion in Robot Systems

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Computer workstations and image sequence acquisition and processing equipment will be acquired and dedicated to research in computer and information science and engineering. The equipment will be used for several research projects, all concerned with the computational and algorithmic issues in processes and systems that combine vision and motion. These projects include: (1) purposive vision in robot exploration of three-dimensional scenes, (2) analysis of dynamic photometric properties in image sequences, (3) motion planning for two whole-sensitive robot arm manipulators sharing common space, (4) sensor-based motion planning for a mobile robot operating in an unstructured environment, and (5) tracking moving objects using snake models. This will provide facilities for image acquisition, processing, motion planning and motion simulation, enabling these projects to perform necessary experimental testing of the theoretical and algorithmic methods that are being developed.