PDF

Description

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.

Details

Title
Toward Geometric Visual Servoing
Creator
Computer Science Division, Publisher
Chang, Dong Eui, Author
Cowan, Noah John, Author
Published
2002-09-26
Full Collection Name
Electrical Engineering & Computer Sciences Technical Reports
Other Identifiers
CSD-02-1200
Type
Text
Format
technical reports
Extent
21 p
Archive
The Engineering Library
Usage Statement
Researchers may make free and open use of the UC Berkeley Library’s digitized public domain materials. However, some materials in our online collections may be protected by U.S. copyright law (Title 17, U.S.C.). Use or reproduction of materials protected by copyright beyond that allowed by fair use (Title 17, U.S.C. § 107) requires permission from the copyright owners. The use or reproduction of some materials may also be restricted by terms of University of California gift or purchase agreements, privacy and publicity rights, or trademark law. Responsibility for determining rights status and permissibility of any use or reproduction rests exclusively with the researcher. To learn more or make inquiries, please see our permissions policies (https://www.lib.berkeley.edu/about/permissions-policies).
Collection

Files

Statistics

from
to
Export
Download Full History