Electrical Engineering
      and Computer Sciences

Electrical Engineering and Computer Sciences

COLLEGE OF ENGINEERING

UC Berkeley

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