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A Tutorial on Visual Servo Control (1996)
| Venue: | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION |
| Citations: | 839 - 26 self |
BibTeX
@ARTICLE{Hutchinson96atutorial,
author = {Seth Hutchinson and Greg Hager and Peter Corke},
title = {A Tutorial on Visual Servo Control},
journal = {IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION},
year = {1996},
volume = {12},
pages = {651--670}
}
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Abstract
This paper 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. Since any visual servo system must be capable of tracking image features in a sequence of images, we 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.
Keyphrases
visual servo control tutorial introduction research field geometric aspect coordinate transformation image formation process prerequisite topic visual servo control system current direction correlation-based method major class computer vision velocity representation visual servo system image-based system robotic manipulator brief review many discipline factory environment image feature basic conceptual framework introduction today
