Task specification and monitoring for uncalibrated hand/eye coordination

Most of the work in robotic manipulation and visual servoing has emphasized how to specify and perform particular tasks. Recent results have formally shown what tasks are possible with uncalibrated imaging systems. This paper extends those results by characterizing in a constructive manner the set of tasks which can be performed with different types of uncalibrated camera models. The tasks resulting structure provides a principle foundation both for a specification language and for automatic execution monitoring in uncalibrated environments