Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based camera sets limitation on continuous visual feedback due their low sampling rate and redundant data real-time image processing, especially case high-speed tasks. Event cameras give human-like capabilities such as observing dynamic changes asynchronously at high temp...

Humans are remarkably proficient at controlling their limbs and tools from a wide range of viewpoints and angles, even in the presence of optical distortions. In robotics, this ability is referred to as visual servoing: moving a tool or end-point to a desired location using primarily visual feedback. In this paper, we study how viewpoint-invariant visual servoing skills can be learned automatic...

Servo applications (regulation and tracking) are an important class of tasks for robots. Robustness in a servo controller must be guaranteed when the robot manipulator operates in an uncertain environment to ensure the stability and performance in the presence of uncertain robot manipulator dynamics, objects to be manipulated by the robot, and obstacles to be avoid. Also, robots must have sensi...

In this paper an image controller using model predictive control (MPC) for visual servoing systems is presented and its performances are analyzed. An eye-inhand type servoing architecture, composed from a 6 degree of freedom robot and a camera mounted on the gripper is considered. Modeling the visual servo open loop is composed from two stages: first the designing of a model for dynamics of the...

the paper presents the design of controller for wheeled mobile robots (WMRs) which continuously follows humans indoors in straight path only. This task uses computer vision in the controller feedback loop and is referred to as vision-based control or visual servo control. Typically, visual servo techniques can be categorised into image based visual servoing (IBVS) and position-based visual serv...

This paper describes experiments in estimation and control of the fixation point with a 10 degree of freedom head-neck-body system. A system has been constructed which uses standard kinematic techniques to estimate the fixation point. Two approaches have been investigated to control the fixation point: 3D kinematic estimation and 2D visual servoing. Kinematics is shown to be efficient provided ...

Most visual servoing applications are concerned with geometrically modeled objects. In this paper, the problem of controlling a motion by visual servoing around an unknown object with a stereovision system is addressed. The main goal is to move the end-effector around the object in order to observe several viewpoints of the object for other tasks, e.g. inspection or grasping. The present work u...

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visua...