Aane Visual Servoing

Small movements of a viewer relative to the surrounding scene induce deformations in the shape and detail of the projected image. This paper will consider the problem of using these deformations to provide visual feedback on the current position of the viewer relative to the scene. The implementation calculates the transformations that occur due to small movements around the current position. If a \target" transformation is speciied, the equivalent motion can be interpolated. As a result, it is possible to position the viewer relying solely on visual feedback. All the calibrations required are performed within the algorithm, and the system is assumed to work using an uncalibrated camera.