A Tutorial on Visual Servo Control

A Tutorial on Visual Servo Control (1996)

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by Seth Hutchinson , Greg Hager , Peter Corke

Venue:	IEEE Transactions on Robotics and Automation
Citations:	513 - 17 self

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Datum	Value	Source
TITLE	A Tutorial on Visual Servo Control	user correction - Legacy Corrections
AUTHOR NAME	Seth Hutchinson	user correction - Legacy Corrections
AUTHOR AFFIL	Department of Electrical and Computer Engineering; The Beckman Institute for Advanced Science and Technology; University of Illinois at Urbana-Champaign	user correction - Legacy Corrections
AUTHOR ADDR	405 N. Mathews Avenue; Urbana, IL 61801	user correction - Legacy Corrections
AUTHOR NAME	Greg Hager	user correction - Legacy Corrections
AUTHOR AFFIL	Department of Computer Science; Yale University	user correction - Legacy Corrections
AUTHOR ADDR	New Haven, CT 06520-8285	user correction - Legacy Corrections
AUTHOR NAME	Peter Corke	user correction - Legacy Corrections
AUTHOR AFFIL	CSIRO Division of Manufacturing Technology	user correction - Legacy Corrections
AUTHOR ADDR	P.O. Box 883,; Kenmore. Australia, 4069.	user correction - Legacy Corrections
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. 1 Introduction Today there are over 800,000 robots in the world, mostly working in factory environment...	user correction - Legacy Corrections
YEAR	1996	INFERENCE
VENUE	IEEE Transactions on Robotics and Automation	INFERENCE
VENUE TYPE	JOURNAL	INFERENCE
PAGES	651--670	INFERENCE
VOLUME	12	INFERENCE
CITATIONS	89 found	ParsCit 1.0