Controlling Robots with Two Cameras: How to Do it Properly

In this paper we address visual servoing through a xed stereo rig using an image Jacobian. Existing methods are based on the stacking of monocular servo image Jacobians, resulting in largely over-constrained control commands. In this paper we formally show that the epipolar constraint between two images can be taken into account explicitly. We then show that use of stereo signiicantly increases the quality of the servo task execution, especially where precision, ro-bustness and smoothness of movement is concerned.