Structure-Independent Visual Motion Control of the Essential Manifold
A new framework for visual motion control is described, which consists of formulating the control task on the so-called essential manifold, a "compact" matrix representation of SE(3). Unlike previous image plane control techniques, our method does not require information about the geometric structure (depth) of the scene or target. This allows us to design control laws that are not ill-conditioned when close to zero-disparity configurations. The control relies on a causal motion estimator (called the "essential filter") that identifies recursively an implicit dynamical model with parameters on the essential manifold.
©1994 International Federation of Automatic Control. We would like to thank Prof. Giorgio Picci and Prof. Ruggero Frezza for their advice and support, Prof. Richard Murray for his suggestions and useful comments, Prof. Joel Burdick for his interpretations of the essential space, Francesco Bullo for his comments about the choice of a metric on the essential space and F. Christof Kolb for his criticism about the style of the paper. This work has been funded by the California Institute of Technology, a scholarship from the University of Padova, a fellowship from the "A. Gini" Foundation and grant ASI-RS-103 from the Italian Space Agency.
Published - structure_soatto_SYROCO94.pdf