On-line Estimation of Visual-Motor Models using Active Vision

Abstract

We present a novel approach for combined visual model acqusition and agent control. The approach differs from previous work in that a full coupled Jacobian is estimated on-line without any prior models, or the introduction of special calibration movements. We show how the estimated models can be used for visual space robot task specification, planning and control. In the other direction the same type of models can be used for view synthesis.