VASC Seminar Announcement
            =========================

Date: Tuesday, 5/30/00
Time: 3:30pm
Place: NSH 3002

Speaker:  Peng Chang
          CMU Robotics Institute
          http://www.ri.cmu.edu/people/chang_peng.html

Title: Omnidirectional Structure From Motion with Application
to Omnidirectional Visual Servoing

Abstract:

Visual servoing is a very useful way to drive a robot move 
around in an environment. Conventional cameras have limited 
field of view which poses strict limitation to the robot motion 
and thus the robot capability. In this talk, I'll describe
our work on visual servoing with an omnidirectional camera
for the TMR project.

By developing a novel omnidirectional epipolar constrain, an
omnidirectional structure from motion algorithm is developed
and evaluated with both synthetic and real data. A comparison
between the omnidirectional SFM and the conventional SFM
is made. Furthermore, I will show how to use this technique
to help accomplish a visual servoing task, specifically, how to
augument the target tracking when it is far away and how to
enhence the robustness of target recovery once it gets lost or
occluded.