%0 Journal Article 
%F Comport06a
%A Comport, A.I.
%A Marchand, E.
%A Chaumette, F.
%T Statistically robust 2D visual servoing
%J IEEE Trans. on Robotics
%V 	 22
%N 2
%P 415-421
%X A fundamental step towards broadening the use of real world image-based visual servoing is to deal with the important issue of reliability and robustness. In order to address this issue, a closed loop control law is proposed that simultaneously accomplishes a visual servoing task and is robust to a general class of image processing errors. This is achieved with the application of widely accepted statistical techniques such as robust M-estimation and LMedS. Experimental results are presented which demonstrate visual servoing tasks that resist severe outlier contamination
%U http://www.irisa.fr/lagadic/pdf/2006_ieee_tro_comport.pdf
%U http://dx.doi.org/10.1109/TRO.2006.870666
%8 April
%D 2006