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P. Corke, F. Spindler, F. Chaumette. Combining Cartesian and cylindrical coordinates in IBVS. In IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09, Pages 5962-5967, St Louis, USA, October 2009.

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Image-based visual servo (IBVS) is a simple, efficient and robust technique for vision-based control. Although technically a local method in practice it demonstrates almost global convergence. However IBVS performs very poorly for cases that involve large rotations about the optical axis. It is well known that re-parameterizing the problem by using polar, instead of Cartesian coordinates, of feature points overcomes this limitation. First, simulation and experimental results are presented to show the complementarity of these two parameterizations. We then describe a new hybrid visual servo strategy based on combining polar and Cartesian image Jacobians


Fabien Spindler
Francois Chaumette

BibTex Reference

   Author = {Corke, P. and Spindler, F. and Chaumette, F.},
   Title = {Combining Cartesian and cylindrical coordinates in IBVS},
   BookTitle = {IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09},
   Pages = {5962--5967},
   Address = {St Louis, USA},
   Month = {October},
   Year = {2009}

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