A tutorial on visual servo control

Seth Hutchinson, Gregory D. Hager, Peter I. Corke

Research output: Contribution to journalArticle

Abstract

This article provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspects of the image formation process. We then present a taxonomy of visual servo control systems. The two major classes of systems, position-based and image-based systems, are then discussed in detail. Since any visual servo system must be capable of tracking image features in a sequence of images, we also include an overview of feature-based and correlation-based methods for tracking. We conclude the tutorial with a number of observations on the current directions of the research field of visual servo control.

Original languageEnglish (US)
Pages (from-to)651-670
Number of pages20
JournalIEEE Transactions on Robotics and Automation
Volume12
Issue number5
DOIs
StatePublished - 1996

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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