F. Chaumette, S. Hutchinson. Visual servo control, Part I: Basic approaches. IEEE Robotics and Automation Magazine, 13(4):82-90, December 2006.
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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
@article{Chaumette06a,
Author = {Chaumette, F. and Hutchinson, S.},
Title = {Visual servo control, Part I: Basic approaches},
Journal = {IEEE Robotics and Automation Magazine},
Volume = { 13},
Number = {4},
Pages = {82--90},
Month = {December},
Year = {2006}
}
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