Visual servo control. I. Basic approaches

TLDR

Visual servo control uses computer vision data in the servo loop to guide robot motion, and this paper initiates a two-part series on the topic. The paper outlines the well-established basic techniques of visual servo control. The authors present a general formulation of visual servo control and detail the two archetypal schemes—image-based and position-based. The paper highlights performance and stability concerns of image-based and position-based schemes, setting the stage for advanced methods in the sequel.

Abstract

This paper is the first of a two-part series on the topic of visual servo control using computer vision data in the servo loop to control the motion of a robot. In this paper, we describe the basic techniques that are by now well established in the field. We first give a general overview of the formulation of the visual servo control problem. We then describe the two archetypal visual servo control schemes: image-based and position-based visual servo control. Finally, we discuss performance and stability issues that pertain to these two schemes, motivating the second article in the series, in which we consider advanced techniques