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Abstract: This paper presents a global di eomorphism from a suitably de ned \visible set" of rigid body con gurations | 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 di eomorphism to image-space should pave the way for developing... (Update)
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BibTeX entry: (Update)
@misc{ division-report,
author = "Computer Science Division",
title = "Report No. UCB/CSD-02-1200",
url = "citeseer.ist.psu.edu/736630.html" }
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