Visual Servoing on Unknown Objects

Visual Tracking of Unknown Moving Object by Adaptive Binocular Visual Servoing

Visual tracking of moving objects is one of the most fundamental capabilities for intelligent robots to accomplish the given task in unknown, dynamic environments. Visual servoing which utilizes direct feedback from image features to motion control has been used to realize such capability. However, the conventional visual servoing needs much knowledge on the system parameters such as kinematics...

2 1/2 D Visual Servoing with Respect to Unknown Objects through a New Estimation Scheme of Camera Displacement

Real Time Visual Servoing Around a Complex Object

In visual servoing, most studies are concerned with robotic application with known objects. In this paper, the problem of controlling a motion by visual servoing around an unknown object is addressed. In this case, the approach is interpreted as an initial step towards a perception goal of an unmodeled object. The main goal is to perform motion with regard to the object in order to discover sev...

Visual servoing with respect to complex objects

This paper presents new advances in the field of visual servoing. More precisely, we consider the case where complex objects are observed by a camera. In a first part, planar objects of unknown shape are considered using image moments as input of the image-based control law. In the second part, a pose estimation and tracking algorithm is described to deal with real objects whose 3D model is kno...

Stacking Jacobians Properly in Stereo Visual Servoing

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...