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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.

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Abstract

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.

Impact and interest:

1,825 citations in Scopus
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1,439 citations in Web of Science®

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ID Code: 50025
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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