Visual Servoing

François Chaumette (1) , Seth Hutchinson (2) , Peter Corke (3)

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

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 techniques 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 pose-based visual servo control. We then discuss performance and stability issues that pertain to these two schemes, motivating advanced techniques. Of the many advanced techniques that have been developed , we discuss 2.5-D, hybrid, partitioned, and switched approaches. Having covered a variety of control schemes, we deal with target tracking and controlling motion directly in the joint space and extensions to under-actuated ground and aerial robots. We conclude by describing applications of visual ser-voing in robotics.

Domaines: Robotique [cs.RO]; Informatique [cs]

François Chaumette, Seth Hutchinson, Peter Corke. Visual Servoing. B. Siciliano; O. Khatib. Handbook of Robotics, 2nd edition , Springer, pp.841-866, 2016. ⟨hal-01355384⟩