Visual servoing path planning via homogeneous forms and LMI optimizations
IEEE Transactions on Robotics
Improvements on visual servoing from sphericaltargets using a spherical projection model
IEEE Transactions on Robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Construction of vision-based manipulation system for 3D industrial objects
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Robotics and Autonomous Systems
Optimal object configurations to minimize the positioning error in visual servoing
IEEE Transactions on Robotics
Image Based and Hybrid Visual Servo Control of an Unmanned Aerial Vehicle
Journal of Intelligent and Robotic Systems
Robust image-based visual servoing using invariant visual information
Robotics and Autonomous Systems
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This paper presents a global diffeomorphism from a visible set of rigid-body configurations, a subset of SE(3), to an image space. Using the diffeomorphism, we develop an image-based, essentially global, dynamic visual servoing algorithm that keeps features in the field of view and avoids self-occlusions. The approach is geometric in the sense that the visible set and its corresponding image are differentiable manifolds, and the diffeomorphism is global. The mapping to image space and the resulting Jacobian rely on a specific target geometry, a sphere with a known radius marked with an "arrow" feature point. The paper presents simulation experiments for a more typical visual target comprised of a collection of isolated feature points. In this setting, the diffeomorphism to image space is approximate, nevertheless, the simulations converge for a wide variety of target geometries and initial conditions.