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Geometric and end-to-end visual servoing

François Chaumette 1
1 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : As for humans and most animals, vision is a crucial sense for a robot to interact within its environment. Vision-based robot motion control, also named visual servoing, is a general approach to close the perception-action loop. It has given rise to an incredible amount of research and successful applications from the creation of the fields of robotics and computer vision several decades ago. The aim of this talk is to provide a comprehensive state of the art on the basic concepts, methodologies, and applications. In a first part, the traditional approach based on geometric visual features, such as image points, image moments, or camera-object pose will be described. The more recent end-to-end approach that directly uses the image content without any image tracking nor matching process will be also considered, providing a link to CNN modern methods that use the same inputs.
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Conference papers
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https://hal.inria.fr/hal-01935409
Contributor : Eric Marchand <>
Submitted on : Monday, November 26, 2018 - 4:22:15 PM
Last modification on : Thursday, January 7, 2021 - 4:14:23 PM

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  • HAL Id : hal-01935409, version 1

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François Chaumette. Geometric and end-to-end visual servoing. Plenary Talk: CYBER 2018 - IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, Jul 2018, Tianjin, China. ⟨hal-01935409⟩

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