IROS 2004 Tutorial on Advanced Visual Servoing

NEW: Corrected and updated version of the tutorial notes and videos.


Aim and scope

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.


Lecture 1 : Introduction to Visual Servoing (Philippe Martinet, Professor in LASMEA, Blaise Pascal University, Clermont-Ferrand, France)
Duration : 40 minutes
Content :
Lecture 2 : Modelling in Visual Servoing (François Chaumette, Director of Research at IRISA, Rennes, France)
Duration : 40 minutes
Content : Lecture 3 : Vision Based Control Laws (Ezio Malis, Research Scientist at INRIA, Sophia-Antipolis, France)
Duration : 40 minutes
Content : Lecture 4 : Micro Visual Servoing (Koichi Hashimoto, Professor at Tohoku University, Sendai, Japan)
Duration : 30 minutes
Content : Lecture 5 : Applications (All lecturers)
Duration : 30 minutes
Content :
Open questions and discussions : All lecturers and participants (free of time)

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Last modified by Enric Cervera
on 25/02/2010 @ 14:05.