%0 Journal Article 
%F Chaumette06a
%A Chaumette, F.
%A Hutchinson, S.
%T Visual servo control, Part I: Basic approaches
%J IEEE Robotics and Automation Magazine
%V 	 13
%N 4
%P 82-90
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2006_ieee_ram_chaumette.pdf
%U http://dx.doi.org/10.1109/MRA.2006.250573
%8 December
%D 2006