Toward Geometric Visual Servoing

摘要

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.