Toward Geometric Visual Servoing

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. This technical report is an addendum to the paper by the same authors [4].

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Document Details

Document Type
Technical Report
Publication Date
Sep 26, 2002
Accession Number
ADA603605

Entities

People

  • Dong E. Chang
  • Noah J. Cowan

Organizations

  • University of California, Berkeley

Tags

Communities of Interest

  • Air Platforms
  • C4I
  • Energy and Power Technologies
  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • California
  • Cameras
  • Collision Avoidance
  • Computations
  • Computer Science
  • Construction
  • Convergence
  • Equations
  • Equations Of Motion
  • Geometry
  • Lie Groups
  • Navigation
  • Robots
  • Targets
  • Visual Servoing
  • Visual Targets

Fields of Study

  • Computer science

Readers

  • Computer Science.
  • Computer Vision.
  • Structural Dynamics.

Technology Areas

  • Space