Visual Servoing via Navigation Functions

Abstract

This technical report presents a framework for visual servoing that guarantees convergence to a visible goal from most initially visible configurations while maintaining full view of all the feature points along the way. The method applies to first and second order fully actuated plant models. The solution entails three components: a model for the "occlusion-free" workspace; a change of coordinates from image to model coordinates; and a navigation function for the model space. We present three example applications of the framework, along with experimental validation of its practical efficacy.

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Document Details

Document Type
Technical Report
Publication Date
Feb 06, 2002
Accession Number
ADA461945

Entities

People

  • Daniel E. Koditschek
  • Joel D. Weingarten
  • Noah J. Cowan

Organizations

  • University of California, Berkeley

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Cameras
  • Collision Avoidance
  • Computer Science
  • Computer Vision
  • Control Systems
  • Coordinate Systems
  • Electrical Engineering
  • Equations
  • Geometry
  • Image Processing
  • Navigation
  • Operating Systems
  • Robots
  • Three Dimensional
  • Two Dimensional
  • Visual Servoing

Fields of Study

  • Computer science

Readers

  • Calculus or Mathematical Analysis
  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers