01494nas a2200157   4500008004100000245013500041210006900176490000700245520081600252653001301068100002001081700001501101700001801116700001501134856018701149       2013                        eng d00aA Complete Observability Analysis  of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities0 aComplete Observability Analysis of the Planar Bearing Localizati0 v103 a<p>This paper presents an analysis of planar bearing localization and mapping for visual servoing with known camera velocities. In particular, we investigate what is the subset of camera locations and environmental features that can be retrieved from dynamic observations obtained by a planar bearing sensor (nearly e.g., a pinhole camera). Results assume that the camera’s linear and angular velocities are available, which is equivalent to consider a unicycle vehicle carrying an onboard camera. Results hold if other system inputs are considered, e.g., an omnidirectional vehicle. The theoretical results may guide the design of nonlinear observers to estimate the variables of interest in real time to be applied to visual servoing schemes. An example of such an observer is discussed and simulated.</p>
10aRobotics1 aBelo, F., A. W.1 aSalaris, P1 aFontanelli, D1 aBicchi, A.  uhttp://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/a-complete-observability-analysis-of-the-planar-bearing-localization-and-mapping-for-visual-servoing