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A tutorial on visual servo control
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.
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Cites
Fischler, M. A., & Bolles, R. C. (1981) · Communications of the ACM · doi:10.1145/358669.358692 · Cited by 25,893
Cited by
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Hager, G. D., & Belhumeur, P. N. (1998) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/34.722606 · Cited by 1,066
Self-citationReal-time visual tracking of complex structures
Drummond, T., & Cipolla, R. (2002) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2002.1017620 · Cited by 598
SAPIEN: A SimulAted Part-Based Interactive ENvironment
Xiang, F., Qin, Y., Mo, K., Xia, Y., Zhu, H., Liu, F., Liu, M., Jiang, H., Yuan, Y., Wang, H., et al. (2020) · 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr42600.2020.01111 · Cited by 406
Malis, E., & Chaumette, F. (2000) · International Journal of Computer Vision · doi:10.1023/a:1008181530296 · Cited by 273
(2002) · Cited by 200
Metadata
- Authors
- Hutchinson, S., Hager, G. D., & Corke, P. I.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1996
- Volume
- 12
- Issue
- 5
- Pages
- 651-670
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2167501464
- Cited by
- 3,528
- References
- 1
- FWCI
- 51.53
- Type
- journal article
- Language
- en
- Open access
- closed
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- Hutchinson, S., Hager, G. D., & Corke, P. I. (1996). A tutorial on visual servo control. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.538972
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
