Visual servoing is a manipulation control strategy that precisely positions objects using imprecisely calibrated camera-lens-manipulator systems. In order to quickly and easily integrate sensor-based manipulation strategies such as visual servoing into robotic systems, a system framework and a task representation must exist which facilitates this integration. The framework must also be extendab...

Visual servoing is a manipulation control strategy that precisely positions objects using imprecisely calibrated camera-lens-manipulator systems. In order to quickly and easily integrate sensor-based manipulation strategies such as visual servoing into robotic systems, a system framework and a task representation must exist which facilitates this integration. The framework must also be extendab...

This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be si...

This paper describes a number of geometric tools that can be easily implemented in order to obtain a very robust visual servoing platform. Most often, visual servoing algorithms are either based on calibrated systems or dispose of enough information to self-calibrate (the most noteworthy exception being 15]). We show that this abundance of information can be exploited in the case of stereo serv...

In this study, stereo vision system is applied to visual servoing of a mobile manipulator. The robot can recognize a target and compute the 3D position of the target by using a stereo vision system. A stereo vision system enables the robot to find the position of a target without additional information while a monocular vision system needs properties such as geometric shape of a target. Many al...

This paper proposes a path-planning visual servoing strategy for a class of cameras that includes conventional perspective cameras, fisheye cameras, and catadioptric cameras as special cases. Specifically, these cameras are modeled by adopting a unified model recently proposed in the literature, and the strategy consists of designing image trajectories for eye-in-hand robotic systems that allow...