Abstract
There has been an increasing interest in applying computer vision in robot control such as vision guided navigation, manipulation, and object recognition. A combination of a robot's rigid body motion and a camera's perspective projection has brought us a new geometric subject to study, the so called multiview geometry in computer vision literature. In this paper, we propose a new approach to this subject based on mathematical tools commonly used in robotics such as linear algebra, differential geometry and Lie group theory. Based on the geometric model of a vision system, main results of multiview geometry are outlined, including reconstruction theory of camera motion, scene structure and camera self-calibration. Potential applications of multiview geometry in robot control are also presented.
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