A.I. Comport, E. Marchand, F. Chaumette. Statistically robust 2D visual servoing. IEEE Trans. on Robotics, 22(2):415-421, April 2006.
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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
Éric Marchand
François Chaumette
@article{Comport06a,
Author = {Comport, A.I. and Marchand, E. and Chaumette, F.},
Title = {Statistically robust 2D visual servoing},
Journal = {IEEE Trans. on Robotics},
Volume = { 22},
Number = {2},
Pages = {415--421},
Month = {April},
Year = {2006}
}
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