A Unified Direct Approach for Visual Servoing and Visual Tracking Using Mutual Information Ezio Malis

A unified approach to visual tracking and servoing

In this paper, we present a generic and flexible system for vision-based robot control. The system integrates several research areas (visual matching, visual tracking and visual servoing) in a unifying framework. In this framework, the flexibility is obtained using a template matching algorithm based on an efficient second-order minimization. Contrarily to feature-based visual servoing schemes,...

An Unified Approach to Model-Based and Model-Free Visual Servoing

Standard vision-based control techniques can be classified into two groups: model-based and model-free visual servoing. Modelbased visual servoing is used when a 3D model of the observed object is available. If the 3D model is completely unknown, robot positioning can still be achieved using a teaching-by-showing approach. This modelfree technique needs a preliminary learning step during which ...

Homography-based 2D Visual Tracking and Servoing

The objective of this paper is to propose a new homography-based approach to image-based visual tracking and servoing. The visual tracking algorithm proposed in the paper is based on a new efficient second-order minimization method. Theoretical analysis and comparative experiments with other tracking approaches show that the proposed method has a higher convergence rate than standard first-orde...

2-1/2D Visual Servoing with Respect to Planar Contours Having Complex and Unknown Shapes

In this paper we present a complete system for segmenting, matching, tracking, and visual servoing with respect to unknown planar contours. Our system can be used with arbitrary contours of any shape and without any prior knowledge of their models. The system is first shown the target view. A selected contour is automatically extracted and its image shape is stored. The robot and object are the...

Multi-Cameras Visual Servoing