15: Visual servoing

The task in visual servoing is to control the pose of the robot’s end-effector, relative to the target, using visual  features extracted from the image. The camera may be carried by the robot or fixed in the world, known respectively as end-point closed-loop (eye-in-hand) or end-point open-loop.

Sections cover:

  • Position-based visual servoing (PBVS)
  • Image feature motion due to camera motion
  • Controlling feature motion — image-based visual servoing (IBVS)
  • estimating depth
  • Performance issues and failure modes
  • Servoing using line and ellipse features