Visual servo control, Part I: Basic approaches

François Chaumette 1 S. 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 article is the first of a two-part series on the topic of visual servo control: using computer vision data in the servo loop to control the motion of a robot. In the present article, we describe the basic techniques that are by now well established in the field. We first give a general overview of the formulation of the visual servo control problem. We then describe the two archetypal visual servo control schemes: image-based and position-based visual servo control. Finally, we discuss performance and stability issues that pertain to these two schemes, motivating the second article in the series, in which we consider advanced techniques.
Type de document :
Article dans une revue
IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2006, 13 (4), pp.82-90
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François Chaumette, S. Hutchinson. Visual servo control, Part I: Basic approaches. IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2006, 13 (4), pp.82-90. 〈inria-00350283〉

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