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F. Chaumette, S. Hutchinson. Visual servo control, Part I: Basic approaches. IEEE Robotics and Automation Magazine, 13(4):82-90, December 2006.

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This article is the first of a two-part series on the topic of visual servo control: using computer vision data in the servo loop to control the motion of a robot. In the present article, we describe the basic techniques that are by now well established in the field. We first give a general overview of the formulation of the visual servo control problem. We then describe the two archetypal visual servo control schemes: image-based and position-based visual servo control. Finally, we discuss performance and stability issues that pertain to these two schemes, motivating the second article in the series, in which we consider advanced techniques


Francois Chaumette

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   Author = {Chaumette, F. and Hutchinson, S.},
   Title = {Visual servo control, Part I: Basic approaches},
   Journal = {IEEE Robotics and Automation Magazine},
   Volume = {    13},
   Number = {4},
   Pages = {82--90},
   Month = {December},
   Year = {2006}

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