A tutorial on visual servo control

Embodied categorisation for vision-guided mobile robots

“…For example, computation can be reduced by controlling the direction of gaze, which provides additional constraints, simplifying early vision [14]. Within active vision, researchers have linked perception directly to action, such as visual servoing, (e.g., [15]), where the control of robotic actuators is connected in control loops directly with features extracted from images.…”

A 2D–3D model-based approach to real-time visual tracking

“…P d [10,16]. The control law supplying an exponential decrease of the error P − P d in the image is given by [10]:…”

“…The aim is to use the tracking method within a robotics context. More precisely, we are concerned with the visual servoing [16] approach to control the movements of a robot using image information. This is of key interest for example in a hostile environment as a nuclear power plant.…”

Robust stereo tracking for space applications

“…The considered robot is the ESA's three-armed Eurobot (see Figure 1) whose purpose is to prepare and assist extra vehicular activities on the International Space Station (ISS). The fact that this robot is equipped with one camera mounted on each arm end effector and one stereovision system mounted on its base allows to consider tracking and visual servoing tasks using various camera configuration: one, two or more cameras, with short or wide baseline, in eye-in-hand or eye-to-hand control schemes [9]. a b We also want to insist on the fact that the presented tracking algorithm has to tackle several space specific problems.…”