A tutorial on visual servo control
Hutchinson, S.; Hager, G.D.; Corke, P.I.
Robotics and Automation, IEEE Transactions on
Volume 12, Issue 5, Oct 1996 Page(s):651 - 670
Digital Object Identifier 10.1109/70.538972
Summary: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
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