A Framework for Visual Servoing Tasks

A general framework for visual servoing tasks is proposed. The objective of the paper is twofold: a) how a complicated servoing task might be composed from a multitude of simple ones, and b) how the integration of basic and simple visual algorithms can be used in order to provide a robust input estimate to a control loop for a mobile platform or a robot manipulator. For that purpose, voting schema and consensus theory approaches are investigated together with some initial vision based algorithms. Voting is known as a model–free approach to integration and therefore interesting for applications in real–world environments which are difficult to model. It is experimentally shown how servoing tasks like pick–and–place, opening doors and fetching mail can be robustly performed using the proposed approach.