PREFACE -- LIST OF CONTRIBUTORS -- CHAPTER 1 CUE INTEGRATION FOR MANIPULATION (D. Kragic and H. I. Christensen) -- 1.1 Introduction -- 1.2 Cue Integration -- 1.3 Cues for Visual Servoing -- 1.4 System Outline -- 1.5 Evaluation -- 1.6 Summary -- 1.7 Acknowledgments -- CHAPTER 2 SPATIALLY ADAPTIVE FILTERING IN A MODELBASED MACHINE VISION APPROACH TO ROBUST WORKPIECE TRACKING (H.-H. Nagel, Th. MCiller, V. Gengenbach, and A Gehrke) -- 2.1 Introduction -- 2.2 Specification of Problem and Boundary Conditions -- 2.3 Solution Approach to Be Investigated -- 2.4 Results -- 2.5 Discussion and Outlook -- CHAPTER 3 INCREMENTAL FOCUS OF ATTENTION: A LAYERED APPROACH TO ROBUST VISION AND CONTROL (Kentaro Toyama, Gregory D. Hager, and Zachary Dodds) -- 3.1 Introduction -- 3.2 Robust Tracking -- 3.3 Action Prohibition in Robot Control -- 3.4 Examples -- 3.5 Related Work -- 3.6 Discussion -- 3.7 Acknowledgments -- CHAPTER 4 INTEGRATED OBJECT MODELS FOR ROBUST VISUAL TRACKING (Kevin Nickels and Seth Hutchinson) -- 4.1 Introduction -- 4.2 Models -- 4.3 Observation Function -- 4.4 Feature Tracking -- 4.5 Extended Kalman Filter -- 4.6 Experimental Results -- 4.7 Conclusions -- CHAPTER 5 ROBUST VISUAL TRACKING BY INTEGRATING VARIOUS CUES (Yoshiaki Shirai, Ryuzo Okada, and Tsuyoshi Yamane) -- 5.1 Introduction -- 5.2 Optical Flow Extraction -- 5.3 Tracking with Optical Flow -- 5.4 Tracking Two Persons -- 5.5 Tracking with Optical Flow and Depth -- 5.6 Tracking with Optical Flow and Uniform Brightness Regions -- 5.7 Conclusion -- CHAPTER 6 TWO-DIMENSIONAL MODEL-BASED TRACKING OF COMPLEX SHAPES FOR VISUAL SERVOING TASKS (Nathalie Giordana, Patrick Bouthemy, Frangois Chaumette, and Fabien Spindler) -- 6.1 Introduction -- 6.2 Specification of the Homing Task -- 6.3 Semi-Automatic Initialization -- 6.4 Two-Dimensional Tracking of Polyhedral Object -- 6.5 Experimental Results -- 6.6 Conclusions -- 6.7 Acknowledgments -- CHAPTER 7 INTERACTION OF PERCEPTION AND CONTROL FOR INDOOR EXPLORATION (D. Burschka, C. Eberst, C. Robl, and G. Farber).

7.1 Introduction -- 7.2 Concept -- 7.3 Sensor Data Preprocessing -- 7.4 Interpretation -- 7.5 Sensor and Platform Control -- 7.6 Results -- 7.7 Conclusion -- 7.8 Acknowledgment -- CHAPTER 8 REAL-TIME IMAGE PROCESSING FOR IMAGEBASED VISUAL SERVOING (Patrick Rives and Jean-Jacques Borrelly) -- 8.1 Introduction -- 8.2 Image-Based Visual Servoing Requirements -- 8.2.1 Building an Application -- 8.3 Application to a Pipe Inspection Task -- 8.4 Conclusion -- CHAPTER 9 PROVEN TECHNIQUES FOR ROBUST VISUAL SERVO CONTROL (K. Arbter, G. Hirzinger, J. Langwald, G.-Q. Wei, and R Wunsch) -- 9.1 Introduction -- 9.2 Robust Feature Extraction -- 9.3 Model-Based Handling of Occlusion -- 9.4 Multisensory Servoing -- 9.5 Conclusion -- CHAPTER 10 GLOBAL SIGNATURES FOR ROBOT CONTROL AND RECONSTRUCTION (R. A. Hicks, D. J. Pettey, K. S. Daniilidis, and R. Bajcsy) -- 10.1 Introduction -- 10.2 Applications to Robotics -- 10.3 Calculating Signatures -- 10.4 Simulation Results -- 10.5 Conclusion -- CHAPTER 11 USING FOVEATED VISION FOR ROBUST OBJECT TRACKING: THREE-DIMENSIONAL HOROPTER ANALYSIS (Naoki Oshiro, Atsushi Nishikawa, and Fumio Miyazaki) -- 11.1 Introduction -- 11.2 Preliminaries -- 11.3 Horopter Analysis -- 11.4 Concluding Remarks -- CHAPTER 12 EVALUATION OF THE ROBUSTNESS OF VISUAL BEHAVIORS THROUGH PERFORMANCE CHARACTERIZATION (Joao P Barreto, Paulo Peixoto, Jorge Batista, and Helder Araujo) -- 12.1 Introduction -- 12.2 Control of the MDOF Binocular Tracking System -- 12.3 Reference Trajectories Generation Using Synthetic Images -- 12.4 Reference Trajectories Equations -- 12.5 System Response to Motion -- 12.6 Improvements in the Visual Processing -- 12.7 Motor Performance and Global System Behavior -- 12.8 Improvements in Global Performance -- Experimental Results -- 12.9 Summary and Conclusions -- CHAPTER 13 ROBUST IMAGE PROCESSING AND POSITIONBASED VISUAL SERVOING (W. J. Wilson, C. C. Williams Hulls, and F. Janabi-Sharifi) -- 13.1 Introduction -- 13.2 Position-Based Visual Servoing and Image Processing.

13.3 Directed Image Processing and Adaptive Windowing -- 13.4 Feature Planning and Selection -- 13.5 Information Redundancy and Sensor Integration -- 13.6 Conclusions -- CHAPTER 14 VISION-BASED OBJECTIVE SELECTION FOR ROBUST BALLISTIC MANIPULATION (Bradley E. Bishop, and Mark W. Spong) -- 14.1 Introduction -- 14.2 Visual Measurement Scheme -- 14.3 State Estimation and Prediction -- 14.4 Air Hockey -- 14.5 Conclusions and Future Work -- 14.6 Acknowledgments -- CHAPTER 15 VISION-BASED AUTONOMOUS HELICOPTER RESEARCH AT CARNEGIE MELLON ROBOTICS INSTITUTE (1991-1998) (Omead Amidi, Takeo Kanade, and Ryan Miller) -- 15.1 Introduction -- 15.2 Goals -- 15.3 Capabilities -- 15.4 Future Work -- INDEX -- ABOUT THE EDITORS.