A tutorial on visual servo control

作者：Seth Hutchinson, Gregory D. Hager, Peter Corke · 发表于：IEEE Transactions on Robotics and Automation · 年份：1996 · DOI：10.1109/70.538972 · 被引用次数：3532 · 研究领域：Advanced Vision and Imaging、Robotics and Sensor-Based Localization、Optical measurement and interference techniques

This article provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspects of the image formation process. We then present a taxonomy of visual servo control systems. The two major classes of systems, position-based and image-based systems, are then discussed in detail. Since any visual servo system must be capable of tracking image features in a sequence of images, we also include an overview of feature-based and correlation-based methods for tracking. We conclude the tutorial with a number of observations on the current directions of the research field of visual servo control.