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Visual Servoing via Navigation Functions

IEEE Transactions on Robotics and Automation, 2002

N. J. Cowan*, J. D. Weingarten†, D. E. Koditschek
*: Department of Integrative Biology, University of California, Berkeley
†: Advanced Technology laboratory, University of Michigan, Ann Arbor

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Abstract

This paper presents a framework for visual servoing that guarantees convergence to a visible goal from almost every initially visible configurations while maintaining full view of all the feature points along the way. The method applies to first- and second-order fully actuated plant models. The solution entails three components: a model for the “occlusion-free” configurations; a change of coordinates from image to model coordinates; and a navigation function for the model space. We present three example applications of the framework, along with experimental validation of its practical efficacy.

BibTeX entry
@article{paper:cowan-ieee-2002,
Author = N. J. Cowan and J. D. Weingarten and D. E. Koditschek},
TITLE = {Visual Servoing via Navigation Functions},
JOURNAL = {IEEE Transactions on Robotics and Automation},
YEAR = {2002},
VOLUME = {18},
NUMBER = {4},
PAGES = {521-533},
}

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