Date of this Version
We describe work-in-progress toward a nonlinear image-based rigid body dynamic triangulator which we believe tracks a moving target from "essentially all" initial conditions (all initial conditions except a set of measure zero). The dynamic triangulator depends on the goal state only through its image plane position and velocity and requires a navigation function, imposed directly upon image features, to serve as a regressor for a gradient-like state update law.
Cowan, Noah J. and Koditschek, Daniel E., "Toward global visual servos and estimators for rigid bodies" (1998). Departmental Papers (ESE). Paper 373.
Date Posted: 03 June 2008
This document has been peer reviewed.