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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.
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Submitted on : Tuesday, January 6, 2009 - 1:56:31 PM
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  • HAL Id : inria-00350283, version 1


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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