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.
Date of this Version
dynamics, finite field of view (FOV), navigation functions, obstacle avoidance, occlusions, vision-based control, visual servoing
Date Posted: 13 March 2008
This document has been peer reviewed.