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Robotics and the Handbook Read chapter Read first chapter

2016 | OriginalPaper | Chapter

34. Visual Servoing

Authors : François Chaumette, Seth Hutchinson, Peter Corke

Published in: Springer Handbook of Robotics

Publisher: Springer International Publishing

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Abstract

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 two-and-a-half-dimensional (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 servoing in robotics.

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previous chapter Visual Object Class Recognition
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Appendix
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Metadata
Title
Visual Servoing
Authors
François Chaumette
Seth Hutchinson
Peter Corke
Copyright Year
2016
Publisher
Springer International Publishing
Book
Springer Handbook of Robotics

Print ISBN: 978-3-319-32550-7

Electronic ISBN: 978-3-319-32552-1

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-32552-1_34