Toward Geometric Visual Servoing
Abstract: 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.