Visual servo control. I. Basic approaches

Fraņois Chaumette, Setrh Hutchinson

Research output: Contribution to journalArticlepeer-review

Abstract

This paper 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 this paper, 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.

Original languageEnglish (US)
Pages (from-to)82-90
Number of pages9
JournalIEEE Robotics and Automation Magazine
Volume13
Issue number4
DOIs
StatePublished - Dec 1 2006

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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