A tutorial on visual servo control
Hutchinson, S., Hager, G.D., & Corke, Peter (1996) A tutorial on visual servo control. IEEE Transactions on Robotics and Automation, 12(6), pp. 651-670.
This article provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspects of the image formation process. We then present a taxonomy of visual servo control systems. The two major classes of systems, position-based and image-based systems, are then discussed in detail. Since any visual servo system must be capable of tracking image features in a sequence of images, we also include an overview of feature-based and correlation-based methods for tracking. We conclude the tutorial with a number of observations on the current directions of the research field of visual servo control.
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|Item Type:||Journal Article|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science|
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 1996 IEEE|
|Deposited On:||01 May 2012 09:42|
|Last Modified:||02 May 2012 15:45|
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