Visual servoing and visual tracking

François Chaumette (1) , Seth Hutchinson (2)

1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
2 UIUC - University of Illinois at Urbana-Champaign [Urbana]

This chapter introduces visual servo control, using computer vision data in the servo loop to control the motion of a robot. We first describe the basic tech- niques that are by now well established in the field. We give a general overview of the formulation of the visual servo control problem, and describe the two archetypal visual servo control schemes: image-based and position-based visual servo control. We then dis- cuss performance and stability issues that pertain to these two schemes, motivating advanced techniques. Of the many advanced techniques that have been de- veloped, we discuss 2 1/2 D, hybrid, partitioned and switched approaches. Having covered a variety of control schemes, we conclude by turning briefly to the problems of target tracking and controlling mo- tion directly in the joint space.

Domaines: Robotique [cs.RO]

François Chaumette, Seth Hutchinson. Visual servoing and visual tracking. Siciliano, Bruno and Khatib, Oussama. Handbook of Robotics, Springer, pp.563-583, 2008. ⟨hal-00920414⟩