%0 Journal Article 
%F Cretual01b
%A Crétual, A.
%A Chaumette, F.
%T Application of motion-based visual servoing to target tracking
%J Int. Journal of Robotics Research
%V 	 20
%N 11
%P 878-890
%I Sage
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2001_ijrr_cretual-2.pdf
%U https://doi.org/10.1177/02783640122068164
%8 November
%D 2001