Skip to Main content Skip to Navigation
Book sections

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.
Document type :
Book sections
Complete list of metadata

Cited literature [22 references]  Display  Hide  Download
Contributor : Eric Marchand <>
Submitted on : Tuesday, June 27, 2017 - 5:39:56 PM
Last modification on : Thursday, February 11, 2021 - 2:48:05 PM
Long-term archiving on: : Wednesday, January 17, 2018 - 9:07:08 PM


Files produced by the author(s)




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⟩



Record views


Files downloads