15.1.3 Hand-Eye Coordination

Braintech, Inc.,
1994.
WWW Link. Vendor, Image Processing. Industrial machine vision systems.

Jones, V.C.,
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Ph.D.Thesis, 1975, UIUC Coordinated Science Lab
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Morasso, P., Sandini, G., Tagliasco, V., and Zaccaria, R.,
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SMC(9), 1977, pp. 639-651. BibRef 7700

Ballard, D.H., Hartman, L.,
Task Frames: Primitives for Sensory-Motor Coordination,
CVGIP(36), No. 2/3, November/December 1986, pp. 274-297.
Elsevier DOI BibRef 8611

Ballard, D.H.,
Task Frames in Visuo-Motor Coordination,
CVWS85(3-10). BibRef 8500

Anderson, R.L.,
Dynamic Sensing in a Ping-Pong Playing Robot,
RA(5), No. 6, December, 1989, pp. 723-739. Application, Ping Pong. BibRef 8912

Mel, B.W.[Bartlett W.],
Connectionist Robot Motion Planning: A Neurally-Inspired Approach to Visually-Guided Reaching,
San Diego: Academic Press1990, ISBN 0-12-490020-8. Derived from his thesis. BibRef 9000

Akeel, H.A.[Hadi A.], McClosky, S.H.[Stan H.],
Method for aligning an articulated beam delivery device, such as a robot,
US_Patent5,034,618, Jul 23, 1991
WWW Link. BibRef 9107

Porrill, J., Pollard, S.B., Pridmore, T.P., Bowen, J.B., Mayhew, J.E.W., Frisby, J.P.,
Tina: A 3D Vision System for Pick and Place,
IVC(6), No. 2, May 1988, pp. 91-99.
Elsevier DOI BibRef 8805
And: MRSC91(255-263).
PDF File. BibRef
And: System: Tina BibRef

Rygol, M.[Michael], Pollard, S.B.[Stephen B.], Brown, C.R.[Chris R.],
Multiprocessor 3D Vision System for Pick and Place,
IVC(9), No. 1, February 1991, pp. 33-38.
Elsevier DOI BibRef 9102
And: MRSC91(75-80).
PDF File. BibRef
Earlier:
A multiprocessor 3D vision system for pick and place,
BMVC90(xx-yy).
PDF File. 9009
System: Tina. BibRef

Rygol, M.[Michael], Pollard, S.[Stephen], Brown, C.R.[Christopher R.], Mayhew, J.[John],
A Parallel 3D Vision System,
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Brown, C.R.[Chris R.], Dunford, C.M.[Chris M.],
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MRSC91(67-74).
PDF File. System: Tina. BibRef 9100

Koivo, A.J., Houshangi, N.,
Real-Time Vision Feedback for Servoing Robotic Manipulator with Self-Tuning Controller,
SMC(21), 1991, pp. 134-142. BibRef 9100

Espiau, B., Chaumette, F., and Rives, P.,
A New Approach to Visual Servoing in Robotics,
RA(8), No. 3, June 1994, pp. 313-326. BibRef 9406

Hollinghurst, N.J., Cipolla, R.,
Uncalibrated Stereo Hand Eye Coordination,
IVC(12), No. 3, April 1994, pp. 187-192.
Elsevier DOI
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Earlier: BMVC93(389-398).
PDF File.
HTML Version.
PS File.
See also Human-Robot Interface by Pointing with Uncalibrated Stereo Vision. BibRef

Spratling, M.W., and Cipolla, R.,
Uncalibrated Visual Servoing,
BMVC96(Poster Session 2). 9608
University of Cambridge BibRef

Brem, L., Nandhakumar, N.,
A Machine Vision System for Enhancing the Teleoperation of an Industrial Robot,
MVA(7), No. 3, 1994, pp. 187-198. BibRef 9400

Chen, W.Z., Korde, U.A., Skaar, S.B.,
Position Control Experiments Using Vision,
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Castano, A., Hutchinson, S.A.,
Visual Compliance: Task-Directed Visual Servo Control,
RA(10), No. 3, June 1994, pp. 334-342. BibRef 9406

Sharma, R., Hutchinson, S.A.,
Motion Perceptibility and Its Application to Active Vision-Based Servo Control,
RA(13), No. 4, August 1997, pp. 607-617. 9708
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Costemaniere, E., Couvignou, P.A., Khosla, P.K.,
Visual Servoing in the Task-Function Framework: A Contour Following Task,
JIRS(12), No. 1, 1995, pp. 1-21. BibRef 9500

Papanikolopoulos, N.P.,
Selection of Features and Evaluation of Visual Measurements During Robotic Visual Servoing Tasks,
JIRS(13), No. 3, July 1995, pp. 279-304. BibRef 9507

Bard, C., Laugier, C., Milesibellier, C., Troccaz, J., Triggs, B., Vercelli, G.,
Achieving Dextrous Grasping by Integrating Planning and Vision-Based Sensing,
IJRR(14), No. 5, October 1995, pp. 445-464. BibRef 9510

Papanikolopoulos, N.P., Nelson, B.J., Khosla, P.K.,
6-Degree-of-Freedom Hand Eye Visual Tracking with Uncertain Parameters,
RA(11), No. 5, October 1995, pp. 725-732. BibRef 9510

Couvignou, P.A., Papanikolopoulos, N.P., Khosla, P.K.,
On the use of snakes for 3-D robotic visual tracking,
CVPR93(750-751).
IEEE DOI 0403
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Papanikolopoulos, N.P., Khosla, P.K.,
Adaptive Control Techniques for Dynamic Visual Repositioning of Hand-Eye Robotic Systems,
WACV92(110-117).
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Biferno, M.A.[Michael A.], Durck, C.H.[Craig H.],
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US_Patent5,530,650, Jun 25, 1996
WWW Link. BibRef 9606

Colombo, C., Allotta, B.,
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SMC-A(29), No. 1, January 1999, pp. 92-99.
IEEE Top Reference. BibRef 9901

Colombo, C., Allotta, B., Dario, P.,
Affine Visual Servoing for Robot Relative Positioning and Landmark-Based Docking,
AdvRob(9), No. 4, 1995, pp. 463-480. Space Application. BibRef 9500

Allotta, B., and Colombo, C.,
On the use of linear camera-object interaction models in visual servoing,
RA(15), No. 2, 1999, pp. 350-357. BibRef 9900

Sutanto, H., Sharma, R.,
Global Performance Evaluation of Image Features for Visual Servo Control,
JRobS(13), No. 4, April 1996, pp. 243-258. BibRef 9604

Hager, G.D., Hutchinson, S.A.,
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RA(12), No. 5, October 1996, pp. 649-650. 9610
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Hutchinson, S.A., Hager, G.D., Corke, P.I.,
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RA(12), No. 5, October 1996, pp. 651-670. 9610
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Corke, P.I., Good, M.C.,
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RA(12), No. 5, October 1996, pp. 671-683. 9610
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Wilson, W.J., Hulls, C.C.W., Bell, G.S.,
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RA(12), No. 5, October 1996, pp. 684-696. 9610
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Rizzi, A.A., Koditschek, D.E.,
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Nelson, B.J., Khosla, P.K.,
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RA(12), No. 5, October 1996, pp. 714-731. 9610
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Grosso, E., Metta, G., Oddera, A., Sandini, G.,
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Kelly, R.,
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RA(12), No. 5, October 1996, pp. 759-766. 9610
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Hashimoto, K., Ebine, T., Kimura, H.,
Visual Servoing with Hand-Eye Manipulator: Optimal-Control Approach,
RA(12), No. 5, October 1996, pp. 766-774. 9610
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Blake, A.[Andrew],
Computational Modelling of Hand-Eye Coordination,
ActPercep93 BibRef 9300

Sandon, P.A.,
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Allen, P.K., Timcenko, A., Yoshimi, B., Michelman, P.,
Automated Tracking and Grasping of a Moving Object with a Robotic Hand-Eye System,
RA(9), 1993, pp. 152-165. BibRef 9300
Earlier:
Trajectory Filtering and Prediction for Automated Tracking and Grasping of a Moving Object,
DARPA92(1019-1033). BibRef

Allen, P.K., Yoshimi, B., and Timcenko, A.,
Real-Time Visual Servoing,
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Yoshimi, B.H., Allen, P.K.,
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ARPA96(1353-1360). BibRef 9600

Allen, P.K.[Peter K.], and Yoshimi, B.H.[Billibon H.],
Visual Control of Grasping and Manipulation Tasks,
ARPA94(II:1151-1157). BibRef 9400

Yoshimi, B., and Allen, P.K.,
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DARPA93(411-420). Track a fixed point with a camera on a robot hand, the point forms an ellipse which goes to a point when it is correctly aligned. BibRef 9300

Weiss, L.E., Sanderson, A.C., Neuman, C.P.,
Dynamic Sensor-Based Control of Robots with Visual Feedback,
RA(3), 1987, pp. 404-417. BibRef 8700

Bennett, D.J., Geiger, D., Hollerbach, J.M.,
Autonomous Robot Calibration for Hand-Eye Coordination,
IJRR(10), 1991, pp. 550-559. BibRef 9100

Wijesoma, S.W., Wolfe, D.F.H., Richards, R.J.,
Eye-to-Hand Coordination for Vision-Guided Robot Control Applications,
IJRR(12), 1993, pp. 65-78. BibRef 9300

Li, Z., Tao, P.Y., Ge, S.S., Adams, M., Wijesoma, W.S.,
Robust Adaptive Control of Cooperating Mobile Manipulators With Relative Motion,
SMC-B(39), No. 1, February 2009, pp. 103-116.
IEEE DOI 0902
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Hager, G.D.,
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RA(13), No. 4, August 1997, pp. 582-595. 9708
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Toyama, K.[Kentaro], Hager, G.D.[Gregory D.], Wang, J.[Jonathan],
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CRA96(2636-2643). BibRef 9600

Yau, W.Y., Wang, H.,
Robust Hand-Eye Coordination,
AdvRob(11), No. 1, 1997, pp. 57-73. 9708
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Smith, C.E., Papanikolopoulos, N.P.,
Grasping of Static and Moving-Objects Using a Vision-Based Control Approach,
JIRS(19), No. 3, July 1997, pp. 237-270. 9709
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Xie, M.,
Robotic Hand-Eye Coordination: New Solutions with Uncalibrated Stereo Cameras,
MVA(10), No. 3, 1997, pp. 136-143.
Springer DOI 9709
BibRef

Zhuang, H.Q.,
A Note on Hand Eye Calibration,
IJRR(16), No. 5, October 1997, pp. 725-727. 9711
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Okada, N., Nagata, T., Hasegawa, T.,
A Reliable Parts Picking System with an Active and Multisensor Visual System,
Robotica(15), No. 6, November/December 1997, pp. 693-700. 9712
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Roach, S., Magee, M.,
Relative Spatial Pose Estimation for Autonomous Grasping,
OptEng(36), No. 12, December 1997, pp. 3462-3470. 9801
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Lin, G.C.I., Lu, T.F.,
Vision and Force/Torque Sensing for Calibration of Industrial Robots,
IndRob(24), No. 6, 1997, pp. 440-&. 9801
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Zhuang, H.Q., Melchinger, A.,
Calibration of a Hand/Eye Matrix and a Connection Matrix Using Relative Pose Measurements,
SMC-A(28), No. 3, May 1998, pp. 369-375.
IEEE Top Reference. 9805
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Veneri, N.[Nicola], Messelodi, S.[Stefano], Crespi, B.[Bruno],
A Memory-Based Approach to Sensory-Motor Coordination,
MVA(10), No. 5-6, April 1998, pp. 269-279.
Springer DOI 9805
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Zhuang, H.Q.,
A Note on Using Only Position Equations for Robotic Hand/Eye Calibration,
SMC-B(28), No. 3, June 1998, pp. 426-427.
IEEE Top Reference. 9806
BibRef

Yau, W.Y., Wang, H.,
Coordinating the Eyes, Head and Arm of an Autonomous Robot,
EngAAI(11), No. 2, April 1998, pp. 163-174. 9807
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Dornaika, F., Horaud, R.,
Simultaneous Robot World and Hand Eye Calibration,
RA(14), No. 4, August 1998, pp. 617-622. 9808
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Zhuang, H.Q.,
Hand/Eye Calibration for Electronic Assembly Robots,
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Wei, G.Q.[Guo-Qing], Arbter, K., Hirzinger, G.,
Active self-calibration of robotic eyes and hand-eye relationships with model identification,
RA(14), 1999, pp.158-166. BibRef 9900

Malis, E., Chaumette, F., Boudet, S.,
2 1/2 D Visual Servoing,
RA(15), No. 2, April 1999, pp. 238-250. Applied to surgery. BibRef 9904

Honey, S.K.[Stanley K.], Cavallaro, R.H.[Richard H.], Heidmann, T.P.[Timothy P.], Olsen, P.W.[Patrick W.], Gloudemans, J.R.[James R.],
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Chesi, G.[Graziano], Hashimoto, K.[Koichi],
A Simple Technique for Improving Camera Displacement Estimation in Eye-in-Hand Visual Servoing,
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Chesi, G.[Graziano], Hung, Y.S.,
Image Noise Induced Errors in Camera Positioning,
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IEEE DOI 0707
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Chesi, G.[Graziano],
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IEEE DOI 0901
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Chesi, G., Malis, E., Cipolla, R.,
Collineation estimation from two unmatched views of an unknown planar contour for visual servoing,
BMVC99(Posters/Demos).
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Boshra, M.[Michael], Zhang, H.[Hong],
Localizing a polyhedral object in a robot hand by integrating visual and tactile data,
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Elsevier DOI 0001
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Bayro-Corrochano, E.[Eduardo], Daniilidis, K.[Kostas], Sommer, G.[Gerald],
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Daniilidis, K.[Kostas],
Hand-Eye Calibration Using Dual Quaternions,
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PS File. BibRef 9900

Stanley, K., Wu, Q.M.J., Gruver, W.A.,
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Schatz, D.A.[David A.], Nichani, S.[Sanjay], Shillman, R.J.[Robert Joel],
Video safety curtain,
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Namiki, A., Komuro, T., Ishikawa, M.,
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Bai, Y., Wang, D.,
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de Cubber, G.[Geert], Berrabah, S.A.[Sid Ahmed], and Sahli, H.[Hichem],
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Mariottini, G., and Prattichizzo, D.,
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Kyrki, V., Kragic, D.[Danica], Christensen, H.I.[Henrik I.],
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Robot behavior; Sensory-motor function; Skill; Planning; Learning BibRef

Brewer, B.R., Klatzky, R.L., Matsuoka, Y.,
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Recatalá, G., Carloni, R., Melchiorri, C., Sanz, P.J., Cervera, E., de Pobil, A.P.,
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Mayol-Cuevas, W.W., Tordoff, B.J., Murray, D.W.,
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Mayol-Cuevas, W.W., Davison, A.J., Tordoff, B.J., Molton, N.D., Murray, D.W.,
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Chesi, G.[Graziano], Hashimoto, K.[Koichi], (Eds.)
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Ishihara, M.[Makio], Ishihara, Y.[Yukio],
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Ishihara, M.[Makio], Ishihara, Y.[Yukio],
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Thangavel, M., Prakash, J.,
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Kumar, C.R.V.[C.R. Vikram], Arun, P.B.[P. Bharath],
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Shah, M.[Mili],
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Elsevier DOI 1108
Singular value decomposition; Absolute orientation problem; Hand-eye calibration; Six degree of freedom; Translation; Rotation; Camera calibration BibRef

Echegoyen, Z., Lopez-Guede, J.M., Fernandez-Gauna, B., Graña, M.,
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Taghirad, H.D., Atashzar, S.F., Shahbazi, M.,
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Shahbazi, M., Sohn, G., Théau, J., Ménard, P.,
Robust Sparse Matching and Motion Estimation Using Genetic Algorithms,
PIA15(197-204).
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Liu, C.K.[Chuan-Kai], Qiao, H.[Hong], Su, J.H.[Jian-Hua], Zhang, P.[Peng],
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IEEE DOI 1405
grippers BibRef

Hammouda, L.[Laroussi], Kaaniche, K.[Khaled], Mekki, H.[Hassen], Chtourou, M.[Mohamed],
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Parsapour, M.[Mahsa], Taghirad, H.D.[Hamid D.],
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Lyapunov methods. Controller for visual servo. BibRef

Liu, Z., Wang, F., Zhang, Y.,
Adaptive Visual Tracking Control for Manipulator With Actuator Fuzzy Dead-Zone Constraint and Unmodeled Dynamic,
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IEEE DOI 1509
Actuators BibRef

Drioli, C.[Carlo], Foresti, G.L.[Gian Luca],
Time-varying delay measurement of video capture-to-display components with application to visual servoing,
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Elsevier DOI 1512
Video communication BibRef

Datta, R., Pradhan, S., Bhattacharya, B.,
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Actuators BibRef

Heller, J.[Jan], Havlena, M.[Michal], Pajdla, T.[Tomas],
Globally Optimal Hand-Eye Calibration Using Branch-and-Bound,
PAMI(38), No. 5, May 2016, pp. 1027-1033.
IEEE DOI 1604
BibRef
Earlier:
A branch-and-bound algorithm for globally optimal hand-eye calibration,
CVPR12(1608-1615).
IEEE DOI 1208
Apertures BibRef

Kukelova, Z.[Zuzana], Heller, J.[Jan], Pajdla, T.[Tomas],
Hand-Eye Calibration without Hand Orientation Measurement Using Minimal Solution,
ACCV12(IV:576-589).
Springer DOI 1304
BibRef

Ruland, T.[Thomas], Pajdla, T.[Tomas], Kruger, L.[Lars],
Globally optimal hand-eye calibration,
CVPR12(1035-1042).
IEEE DOI 1208
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Heller, J.[Jan], Havlena, M.[Michal], Sugimoto, A.[Akihiro], Pajdla, T.[Tomas],
Structure-from-motion based hand-eye calibration using L-inf minimization,
CVPR11(3497-3503).
IEEE DOI 1106
inf ? BibRef

Li, W.L., Xie, H., Zhang, G., Yan, S.J., Yin, Z.P.,
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SMCS(47), No. 7, July 2017, pp. 1428-1438.
IEEE DOI 1706
Cameras, Mobile robots, Optimization, Robot kinematics, Visual servoing, Image-based visual servoing (IBVS), mobile robots, model predictive control (MPC), neural-dynamic, optimization BibRef

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Springer DOI 1809
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Elsevier DOI 1911
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Mobile robots, Actuators, Kinematics, Backstepping, Tracking, Vehicle dynamics, Actuator dynamics, backstepping, nonholonomic mobile robot BibRef

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IEEE DOI 2202
Manipulator dynamics, Cameras, Vibrations, Visual servoing, Vibration measurement, Robots, Noise measurement, Adaptive control, vibration suppression BibRef

Wang, R.[Runhua], Zhang, X.[Xuebo], Fang, Y.C.[Yong-Chun], Li, B.Q.[Bao-Quan],
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IEEE DOI 2203
Mobile robots, Visual servoing, Robots, Trajectory, Robot kinematics, Cameras, Visualization, Field-of-view (FOV) constraint, visual servoing BibRef

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Pose estimation, Robots, Synchronization, Optimization, Couplings, Calibration, Navigation, Hand-eye calibration (HEC), SE(n) synchronization BibRef

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Cameras, Visual servoing, Calibration, Jacobian matrices, Robots, Visualization, Adaptation models, Fully uncalibrated camera, robotic manipulator BibRef

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Manipulators, Vibrations, Manipulator dynamics, Robots, Visual servoing, Cameras, Vibration measurement, visual servoing BibRef

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ICPR22(4154-4160)
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ISCV22(1-6)
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Sensitivity, Quaternions, Estimation, Calibration, Calibration, Monocular, Hand Eye, QCQP BibRef

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CRV16(164-169)
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Bayro-Corrochano, E.[Eduardo], Daniilidis, K.[Konstantinos], and Sommer, G.[Gerald],
Hand-Eye Calibration in Terms of Motion of Lines Using Geometric Algebra,
SCIA97(xx-yy)
HTML Version. 9705
BibRef

Daniilidis, K., Bayro-Corrochano, E.,
The Dual Quaternion Approach to Hand-Eye Calibration,
ICPR96(I: 318-322).
IEEE DOI 9608
(Christian-Albrechts-Univ., D) BibRef

Hamker, F.H., Gross, H.M.,
Task Relevant Relaxation Network for Visuo-Motor Systems,
ICPR96(IV: 406-410).
IEEE DOI 9608
(Technical Univ. of Ilmenau, D) BibRef

Herve, J.Y.,
Hand/Eye Coordination: Role of the Active Observer,
ICPR96(I: 292-296).
IEEE DOI 9608
(Ecole Polytechnique de Montreal., CDN) BibRef

Herve, J.Y.[Jean-Yves],
Learning Hand/Eye Coordination By an Active Observer,
ARPA94(I:743-751). BibRef 9400

Kinoshita, K., Deguchi, K.,
Simultaneous Determination of Camera Pose and Intrinsic Parameters by Visual Servoing,
ICPR94(A:285-289).
IEEE DOI BibRef 9400

Deguchi, K., Noguchi, T.,
Visual Servoing Using Eigenspace Method and Dynamic Calculation of Interaction Matrices,
ICPR96(I: 302-306).
IEEE DOI 9608
(Univ. of Tokyo, J) BibRef

Cross, G.M.T., and Cipolla, R.,
Affine Visual Servoing,
BMVC96(Tracking). 9608
University of Cambridge BibRef

Wang, L.[Lei],
Three Dimensional Structure from Active Shadowing,
Ph.D.Thesis, December 1995, Division of Applied Science, BibRef 9512 HarvardUniversity, Cambridge MA 02138. Kalman Filter.
PS File. BibRef

Jagersand, M., Nelson, R.C.,
Visual Space Task Specification, Planning and Control,
SCV95(521-526).
IEEE DOI BibRef 9500
And:
On-Line Estimation Of Visual-Motor Models Using Active Vision,
ARPA96(677-682). University of Rochester. Code actions and tasks in terms of perceptions rather than motor sequences. BibRef

Bishay, M., Cambron, M.E., Negishi, K., Peters, II, R.A., Kawamura, K.,
Visual Servoing in ISAC, a Decentralized Robot System for Feeding the Disabled,
SCV95(335-340).
IEEE DOI Vanderbilt Univ. BibRef 9500

Hager, G.[Gregory],
Calibration-Free Visual Control Using Projective Invariance,
ICCV95(1009-1015).
IEEE DOI BibRef 9500

Hager, G.D.,
Real-Time Feature Tracking and Projective Invariance as a Basis for Hand-Eye Coordination,
CVPR94(533-539).
IEEE DOI BibRef 9400

Ungureanu, D.[Dorin], Van Gool, L.J.[Luc J.], Moons, T.[Theo],
Visual robot guidance for an insertion task,
CAIP95(894-899).
Springer DOI 9509
BibRef

Kumaresan, S.S., Li, H.H.,
Hand-eye coordination of a robot manipulator based on fuzzy logic,
ICIP94(III: 221-225).
IEEE DOI 9411
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Cooperstock, J.R., and (on second page) Milios, E.E.,
A Neural Network Operated Vision-Guided Mobile Robot Arm for Docking and Reaching,
RBCV-TR-92-39, Toronto, March 1992. BibRef 9203
And:
Self-Supervised Learning for Docking and Target Reaching,
IAS93(xx-yy). Performs docking and target reaching without geometric calibration of the components. BibRef

Herve, J.Y., Cucka, P., and Sharma, R.,
Qualitative Visual Control of a Robot Manipulator,
DARPA90(895-908). Hand-Eye coordination (or tracking). BibRef 9000

Sandini, G., Gandolfo, F., Metta, G., and Oddera, A.,
The Role of Vision in Two-Arms Manipulation,
CVPR93(622-624).
IEEE DOI BibRef 9300

Webster, R.W., Wei, Y.,
An Intelligent Mobile Robot Golfing System Using Binocular Stereo Vision,
ICPR92(I:603-607).
IEEE DOI BibRef 9200

Gadagkar, H.P., and Trivedi, M.M.,
An Integrated System for Active Exploration Using Contact and Non-Contact Sensors,
IROS92(xx). Tactile Sensing. BibRef 9200

Gadagkar, H.P., and Trivedi, M.M.,
Active Exploration of Robotic Workcell,
SMC-C91(859-864). 3-D dexcriptions from the scene. BibRef 9100

Chen, H.H.,
A Screw Motion Approach to Uniqueness Analysis of Head-Eye Geometry,
CVPR91(145-151).
IEEE DOI BibRef 9100

Conkie, A., Chongstitvatana, P.,
An uncalibrated stereo visual servo system,
BMVC90(xx-yy).
PDF File. 9009
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Liang, P., Feng, J., Hackwood, S.,
A general framework for robot hand-eye coordination,
CRA88(II: 1082-1087). BibRef 8800

Chien, R.T., and Jones, V.C.,
Acquisition of Moving Objects and Hand-Eye Coordination,
IJCAI75(737-741). BibRef 7500

Chapter on Active Vision, Camera Calibration, Mobile Robots, Navigation, Road Following continues in
Active Vision - Path/Trajectory Planning .