...based
Terminology accoring to Weiss' [Weiss and Sanderson, 1987]
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...eighties
To be precise there was actually a parallel thread on direct visual control used in the various autonomous vehicle projects, but they were only controlling one variable; i.e. the steering angle.
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...pairs
Note that they assume exact problems, i.e. the same number of features as the number of controlled variables. In fact they even claim that is a necessary condition.
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...place
Another problem not addressed in Weiss and Sanderson's paper is how to make the initial feature assignment without knowing the Jacobian.
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... tex2html_wrap_inline3464
We use capital letters to indicate matrices, bold face for vectors, and plain for scalars and functions.
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... tex2html_wrap_inline3870
Updating formulas of rank 1 and 2 are most common. The motivation of popular rank 2 formulas, such as the Davidson, Fletcher, Powell (DFP) [Fletcher, 1987], is that they preserve symmetry ( tex2html_wrap_inline3872 ) positive definiteness of tex2html_wrap_inline3874 , and thus guarantee that the search direction tex2html_wrap_inline3542 of a quasi-Newton type controller is a descent direction for tex2html_wrap_inline3878 . The downside is we know no strong convergence results of the DFP method in combination with inexact line searches (which are used in our trust region controller, described in Section 5.1).
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...method
Trust region methods have wide use in optimization and data fitting, (where they were pioneered by Levenberg and Marquart) but we have not seen them combined with a quasi-Newton method with estimated Jacobian before.
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...
Electronic m-peg videos of the experiments in this section are accessible through the Internet WWW. Use the menu in: http://www.cs.rochester.edu/u/jag/PercAct/videos.html.
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...appearance
A sparse representation, based on hand picked features would work also. In fact that is what we use when we do the inverse problem, visual servoing (Chapter 5), which is the problem of: given a pose described in image space, control the physical agent so it attains that pose (again, without any prior calibration or models, but by learning enough about the visual-motor transfer function on-line ).
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...motor
We use motor state in a general sense, which can be the joint frame of the articulated agent, but can also be a related frame (e.g. Cartesian world).
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...camera
Part of the training sequence is in Video 4.
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...HREF="ftp://ftp.cs.rochester.edu/pub/u/jag/simrobot/">ftp
A sample set of routines for 2D off line view syntgesis is availible from:

ftp://ftp.cs.rochester.edu/pub/u/jag/simrobot/

Corke's toolbox is available from:

ftp://ftp.mathworks.com/pub/contrib/

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...space
Think camera space, although more general visual features are also used.
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Martin Jägersand