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Statistically robust 2-D visual servoing

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3 Author(s)
Comport, A.I. ; IRISA/INRIA, France ; Marchand, E. ; Chaumette, F.

A fundamental step toward broadening the use of real-world image-based visual servoing is to deal with the important issue of reliability and robustness. In order to address this issue, a closed-loop control law is proposed that simultaneously accomplishes a visual servoing task and is robust to a general class of image processing errors. This is achieved with the application of widely accepted statistical techniques such as robust M-estimation and LMedS. Experimental results are presented which demonstrate visual servoing tasks that resist severe outlier contamination.

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Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 2 )