Visual Feedback Without Geometric Features Against Occlusion: A Walsh Basis

For a visual feedback without geometric features, this brief suggests to apply a basis made by the Walsh functions in order to reduce the off-line experimental cost. Depending on the resolution, the feedback is implementable and achieves the closed-loop stability of dynamical systems as long as the input-output linearity on matrix space exists. Remarkably, a part of the whole occlusion effects is rejected, and the remaining part is attenuated. The validity is confirmed by the experimental feedback for nonplanar sloshing.