IROS 2004 Tutorial on Advanced Visual Servoing
During the last decade, visual servoing has become a well-established robot control technique, integrating vision in feedback control loops. The conjunction of fast and affordable vision processing systems, together with progressive theoretical developments has led to an increasing number of applications. The subject has become increasingly more present in conference tracks (ICRA, IROS, ICAR), and journal papers.
The aim of this tutorial is to clarify and present the most recent and advanced issues in visual servoing systems. Though the tutorial aims to present the principles of such techniques, attendees are assumed to have basic notions of image processing, robotics, and visual feedback control.
The choice of visual features has been a historical matter of discussion in the visual servoing community. New concepts about general yet powerful visual features will be introduced in this tutorial. The classical division between 2D and 3D visual servoing models has been mostly overridden by new hybrid approaches, furthermore coping with calibration issues.
Performance is a critical issue in visual servoing systems, where high-speed feedback and processing is required for real-time applications. New software and hardware techniques need to be taken into account for a successful implementation.
Last but not least, visual servoing is spanning a wide range of unforeseen applications, which are possible thanks to recent theoretical developments, and major improvements in equipment. Novel applications together with advances in classical domains will be presented.
This page has been accessed times since 2004/06/25
Last modified by
on 25/02/2010 @ 14:05.