Toward Geometric Visual Servoing
Noah John Cowan and Dong Eui Chang
EECS Department
University of California, Berkeley
Technical Report No. UCB/CSD-02-1200
September 2002
http://www.eecs.berkeley.edu/Pubs/TechRpts/2002/CSD-02-1200.pdf
This paper presents a global diffeomorphism from a suitably defined "visible set" of rigid body configurations -- a subset of SE(3) -- to an image-space. The mapping between the visible set and the image-space is given by the projection of a set of features of a specially designed visual target. The target is a sphere marked with a feature point and a vector tangent to the sphere at the feature point. We show how the construction of a diffeomorphism to image-space should pave the way for developing global, dynamic visual servoing systems using Navigation Functions.
BibTeX citation:
@techreport{Cowan:CSD-02-1200,
Author = {Cowan, Noah John and Chang, Dong Eui},
Title = {Toward Geometric Visual Servoing},
Institution = {EECS Department, University of California, Berkeley},
Year = {2002},
Month = {Sep},
URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2002/5822.html},
Number = {UCB/CSD-02-1200},
Abstract = {This paper presents a global diffeomorphism from a suitably defined "visible set" of rigid body configurations -- a subset of SE(3) -- to an image-space. The mapping between the visible set and the image-space is given by the projection of a set of features of a specially designed visual target. The target is a sphere marked with a feature point and a vector tangent to the sphere at the feature point. We show how the construction of a diffeomorphism to image-space should pave the way for developing global, dynamic visual servoing systems using Navigation Functions.}
}
EndNote citation:
%0 Report %A Cowan, Noah John %A Chang, Dong Eui %T Toward Geometric Visual Servoing %I EECS Department, University of California, Berkeley %D 2002 %@ UCB/CSD-02-1200 %U http://www.eecs.berkeley.edu/Pubs/TechRpts/2002/5822.html %F Cowan:CSD-02-1200