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Classification and realization of the different vision-based tasks

Abstract : This paper describes the different robotics tasks which can be realized using the visual servoing approach. A classification of these tasks, based on the virtual linkage formalism, is proposed and the different properties that the visual features and their related interaction matrix have to satisfy are presented. For the most classical virtual linkages between a camera and its environment, several combinations of visual features are selected. Finally, we recall the application of the task function approach to visual servoing by focusing on automatic control aspects.
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https://hal.inria.fr/hal-01548352
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François Chaumette, Patrick Rives, Bernard Espiau. Classification and realization of the different vision-based tasks. Visual Servoing, 7, pp.199 - 228, 1993, World Scientific Series in Robotics and Intelligent Systems, ⟨10.1142/9789814503709_0007⟩. ⟨hal-01548352⟩

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