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6.6 On-line Linear View Synthesis

  For the on-line view synthesis we use a piecewise (time varying) linear model, as described in Section 6.2.1, that is valid around the current system configuration. The model is updated as we move around in the robot parameter space. The main reason for a linear model is that we want to be able to use it for the image synthesis (and possibly control) using as little calibration information as possible. The linear model has fewer parameters to estimate than a higher order model, which means that a current estimate can be obtained quickly. Fig. 6.7 shows the online case. The real robot is physically in the configuration shown in the lower middle image, and the view synthesis method is used to generate the small deviations from this state shown in the surrounding images.

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Figure 6.7: Using the linear model to synthesize a few small deviations (``twiddles'') from the real physical state in the bottom center image. Video 5



Martin Jägersand