Noah John Cowan and Dong Eui Chang

EECS Department, University of California, Berkeley

Technical Report No. UCB/CSD-02-1200

2002

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.

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BibTeX citation:

@techreport{Cowan:CSD-02-1200,
    Author= {Cowan, Noah John and Chang, Dong Eui},
    Title= {Toward Geometric Visual Servoing},
    Year= {2002},
    Month= {Sep},
    Url= {http://www2.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://www2.eecs.berkeley.edu/Pubs/TechRpts/2002/5822.html
%F Cowan:CSD-02-1200