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