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Visual Servoing

François Chaumette 1 Seth Hutchinson 2 Peter Corke 3
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 techniques 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 pose-based visual servo control. We then discuss performance and stability issues that pertain to these two schemes, motivating advanced techniques. Of the many advanced techniques that have been developed , we discuss 2.5-D, hybrid, partitioned, and switched approaches. Having covered a variety of control schemes, we deal with target tracking and controlling motion directly in the joint space and extensions to under-actuated ground and aerial robots. We conclude by describing applications of visual ser-voing in robotics.
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Submitted on : Tuesday, August 23, 2016 - 10:51:43 AM
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François Chaumette, Seth Hutchinson, Peter Corke. Visual Servoing. B. Siciliano; O. Khatib. Handbook of Robotics, 2nd edition , Springer, pp.841-866, 2016. ⟨hal-01355384⟩

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