Planar motion models can provide gross motion estimation and good segmentation for image pairs with large inter-frame disparity. However, as the disparity becomes larger, the resulting dense correspondences will become increasingly inaccurate for everything but purely planar objects. Flexible motion models, on the other hand, tend to overfit and thus make partitioning difficult. For this reason...

This paper presents a method to achieve visual servoing tasks when the shape of the object being observed as well as the final image are unknown. Therefore, a reconstruction phase has to be performed during the camera motion. More precisely, the reconstruction phase is based on the measurement of the 2D motion in a region of interest and on the measurement of the camera velocity. Since the 2D m...

An approach for tracking the motion of a rigid object using parameterized ow models and a compact-structure constraint is proposed. While polynomial parameterized ow models have been shown to be eeective in tracking the rigid motion of planar objects, these models are inappropriate for tracking moving objects that change appearance revealing their 3D structure. We extend these models by adding ...

In this article we present the discrete-time isoholonomic problem of planar Purcell's swimmer and solve it using Pontryagin maximum principle. The 3-link is a locomotion system moving in low Reynolds number environment. kinematics evolves on principal fiber bundle. A structure-preserving kinematic model obtained terms local form discrete connection. An adapted version Discrete Maximum Principle...

The design and implementation of theoretically-sound robot motion planning algorithms is challenging. Within the framework resolution-exact algorithms, it possible to exploit soft predicates for collision detection. a balancing act between easily implementable their accuracy/effectivity. In this paper, we focus on class planar polygonal rigid robots with arbitrarily complex geometry. We remarka...

In this paper, we address the cooperative towing of payloads by multiple mobile robots in the plane. Robots are attached to a planar object or a pallet carrying a payload by cables. Coordinated motion by the robots allow the payload to be manipulated through a planar, warehouse-like environment. We formulate a quasi-static model for manipulation and derive equations of motion that yield the mot...