Toward Geometric Visual Servoing

  • Noah John Cowan
  • Dong Eui Chang
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 4)


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.


Feature Point Visual Target Rigid Motion Spherical Body Visual Servoing 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Noah John Cowan
    • 1
  • Dong Eui Chang
    • 2
  1. 1.University of CaliforniaBerkeleyUSA
  2. 2.University of CaliforniaSanta BarbaraUSA

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