Work

Visual servo control. II. Advanced approaches [Tutorial]

Year: 2007

Type: article

Abstract: This article is the second of a two-part tutorial on visual servo control. In this tutorial, we have only considered velocity controllers. It is convenient for most of classical robot arms. However, the dynamics of the robot must of course be taken into account for high speed task, or when we deal with mobile nonholonomic or underactuated robots. As for the sensor, geometrical features coming from a classical perspective camera is considered. Features related to the image motion or coming from other vision sensors necessitate to revisit the modeling issues to select adequate visual features. Finally, fusing visual features with data coming from other sensors at the level of the control scheme will allow to address new research topics

Source: IEEE Robotics & Automation Magazine

DOI: 10.1109/mra.2007.339609

Authors: Francois Chaumette, Seth Hutchinson

Institutions: Institut national de recherche en sciences et technologies du numérique, Institut de Recherche en Informatique et Systèmes Aléatoires, University of Illinois Urbana-Champaign

Language: English

Topic: Advanced Vision and Imaging

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W2111691855

FWCI: 51.48

Cites: 50

Cited by: 1,076

Related to: 7