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
Publications
- A tutorial on visual servo control, Hutchinson, Hager & Corke (1996)
- Visual Control of Robots: High-Performance Visual Servoing, 1996, Peter Corke. Now out of print but available for free as an ePrint
- PhD thesis of Peter Corke, 1994, dynamics and control of vision-based control systems
- PhD thesis of Francois Chaumette, 1990 (in French). Describes image task-space control and use of features such as points, lines and ellipses
- Visual servo control I: Basic approaches, Chaumette, Hutchinson (2006)
- Potential problems of stability and convergence in image-based and position-based visual, Chaumette (1998). This paper describes the IBVS failure mode where the camera retreats to infinity
Videos
- Visual servoing, IBVS, PBVS, 2.5D, INRIA lagadic
Software
- Epipolar geometry toolbox
- Visual servoing toolbox
- ViSP for Visual Servoing
- Visual servoing simulator (archived), (Java)
These links are kept in one place for every edition and checked monthly. Resources for every chapter.