This paper concerns the visual servoing with a zooming camera. It presents a new visual servoing approach which allows to position a camera, equipped with a motorized zoom lens, with respect to an object independently if the object is planar or not. Indeed, planar objects are singular cases which cannot be handled by previous intrinsics-free visual servoing. The proposed method makes it possibl...

This paper presents a study of three different Visual Servoing architectures for a planar robot manipulator, comparing their behaviour in achieving a desired goal. The studied architectures were 2D Visual Servoing, 21⁄2D Visual Servoing and Visual Servoing by path planning. The target used in the experiments was planar. Four target points were selected as the visual features. Since the robot is...

A new approach to improve regulation and path planning visual servoing is proposed in this paper, where fuzzy filters are applied to smooth the control action. In visual servoing the speed of convergence depends on a constant gain, that directly influences the velocity of the robot manipulator joints. This velocity can achieve undesired behavior in regulation visual servoing due to its intrinsi...

Abstract— In this paper, we propose a new two-way visual servoing method, named as hand & eye-vergence visual servoing. This idea stems from animal’s evolution history, predator have evolved their eye positions to be at the front face and their eyes turn to gaze at the target prey to be suited to triangulation, enhancing the ability to measure precisely the distance to the prey for catching it....

In this paper, we describe a modular software that allows fast development of eye-in-hand image-based visual servoing applications (ViSP states for “Visual Servoing Platform”). Visual servoing consists in specifying a task as the regulation in the image of a set of visual features. Various issues have thus to considered in the design of such application: among these issues we find the control o...