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Chaumette06a

F. Chaumette, S. Hutchinson. Visual servo control, Part I: Basic approaches. IEEE Robotics and Automation Magazine, 13(4):82-90, December 2006.

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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

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François Chaumette

BibTex Reference

@article{Chaumette06a,
   Author = {Chaumette, F. and Hutchinson, S.},
   Title = {Visual servo control, Part I: Basic approaches},
   Journal = {IEEE Robotics and Automation Magazine},
   Volume = {    13},
   Number = {4},
   Pages = {82--90},
   Month = {December},
   Year = {2006}
}

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