Image Space Potential Fields: Constant Size Environment Representation for Vision-based Subsumption Control Architectures / by Jeffrey Johnson

This technical report is released and available on the Publications page. The report gives a more complete description of the ISP field control paradigm that is part of Release 5. The abstract is below:

This technical report presents an environment representation for use in vision-based navigation. The representation has two useful properties: 1) it has constant size, which can enable strong run-time guarantees to be made for control algorithms using it, and 2) it is structurally similar to a camera image space, which effectively allows control to operate in the sensor space rather than employing difficult, and often inaccurate, projections into a structurally different control space (e.g. Euclidean). The presented representation is intended to form the basis of a vision-based subsumption control architecture.