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A. Crétual, F. Chaumette. Application of motion-based visual servoing to target tracking. Int. Journal of Robotics Research, 20(11):878-890, November 2001.

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In this paper, the classical task of mobile target tracking using a pan-and-tilt camera is considered. The authors use recent results in motion-based visual servoing to deal with complex targets for which shape and texture are unknown. The first method consists of design- ing a control law directly from the estimated image motion. This leads to the computation of the pan-and-tilt acceleration necessary to reduce the tracking error. A second method, more efficient for target tracking, consists of retrieving the target position in the im- age from its estimated motion. This leads to classical image-based visual servoing. For both methods, experimental results obtained at video rate are presented and discussed


Francois Chaumette

BibTex Reference

   Author = {Crétual, A. and Chaumette, F.},
   Title = {Application of motion-based visual servoing to target tracking},
   Journal = {Int. Journal of Robotics Research},
   Volume = {    20},
   Number = {11},
   Pages = {878--890},
   Publisher = {Sage},
   Month = {November},
   Year = {2001}

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