Visual servoing and visual tracking

François Chaumette 1 Seth Hutchinson 2
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This chapter introduces visual servo control, using computer vision data in the servo loop to control the motion of a robot. We first describe the basic tech- niques that are by now well established in the field. We give a general overview of the formulation of the visual servo control problem, and describe the two archetypal visual servo control schemes: image-based and position-based visual servo control. We then dis- cuss performance and stability issues that pertain to these two schemes, motivating advanced techniques. Of the many advanced techniques that have been de- veloped, we discuss 2 1/2 D, hybrid, partitioned and switched approaches. Having covered a variety of control schemes, we conclude by turning briefly to the problems of target tracking and controlling mo- tion directly in the joint space.
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Chapitre d'ouvrage
Siciliano, Bruno and Khatib, Oussama. Handbook of Robotics, Springer, pp.563-583, 2008
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François Chaumette, Seth Hutchinson. Visual servoing and visual tracking. Siciliano, Bruno and Khatib, Oussama. Handbook of Robotics, Springer, pp.563-583, 2008. 〈hal-00920414〉

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