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 nd the control of ...

I. ABSTRACT A novel visual servoing method is presented. The algorithm works for both apparent contours and point features and does not require any information about the internal camera parameters. The proposed visual servoing is based on the epipolar geometry and exploits the autoepipolar property, a special configuration for the epipoles which occurs when the desired and current views undergo...

Recent advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, but they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to telerobotics systems where an operator can initializ...

We describe in this paper potential problems that may appear in image-based visual servoing when the initial camera position is far away from its desired position. We show by concrete examples that local minima or a singularity of the image Jacobian can be reached during the servoing. We then recall recent results obtained to avoid these drawbacks. It consists in combining visual features obtai...

We describe in this paper potential problems that may appear in image-based visual servoing when the initial camera position is far away from its desired position. We show by concrete examples that local minima or a singularity of the image Jacobian can be reached during the servoing. We then recall recent results obtained to avoid these drawbacks. It consists in combining visual features obtai...

In this paper, a trajectory generator for a visual servoing system is proposed to make the system accomplish obstacle avoidance tasks in unknown environments. Using an estimated epipolar constraint, the proposed scheme can generate trajectories for the visual servoing system on the 2D image planes by a simple obstacle avoidance method without reconstructing 3D geometry. The proposed scheme is b...

This paper describes a method to achieve a visioncued swaying task in unknown environments utilizing adaptive visual servoing. The proposed method has a hybrid structure consisting of a controller to keep the distances between feet constant (a stance servoing controller), and an adaptive visual servoing controller. Making use of the method, the motion of each joint need not be pre-programmed, b...

Visual Servoing is generally contained of control and feature tracking. Study of previous methods shows that no attempt has been made to optimize these two parts together. In kernel based visual servoing method, the main objective is to combine and optimize these two parts together and to make an entire control loop. This main target is accomplished by using Lyapanov theory. A Lyapanov candidat...

In this paper, the problem of estimating the partial camera displacement from two images of a static object is studied. This scaled displacement is used to design a new vision-based control scheme, called 2D 1/2 visual servoing. It must be emphasized that motion and structure can be estimated without the a priori knowledge of a 3D model of the object, which increases the versatility and the app...

Visual servoing requires the target object to be in the field of view of the camera all the time. At the same time, we also want to achieve optimal path planning and controllability of the robot pose. This paper presents a new hybrid fuzzy control method for visual servoing of mobile robots to meet these requirements. IBVS (Image Based Visual Servoing) calculates the motion plan directly from t...