Visual servo control. II. Advanced approaches [Tutorial]

IEEE Robotics and Automation Magazine

Volumn 14, Issue 1, 2007, Pages 109-118

  Chaumette, François ^a   Hutchinson, Seth ^b,c  

^a INRIA   (France)

^b University of Illinois at Urbana Champaign   (United States)

^c UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN   (United States)

Author keywords

Robot control; Visual servo

Indexed keywords

EPIPOLAR GEOMETRY; POSITION-BASED VISUAL SERVO (PBVS) SCHEMES; ROBOT CONTROL; VISUAL SERVO;

COMPUTER SIMULATION; ESTIMATION; GEOMETRY; ITERATIVE METHODS; MATRIX ALGEBRA; NUMERICAL METHODS; TARGET TRACKING;

SERVOMECHANISMS;

EID: 34147140926     PISSN: 10709932     EISSN: None     Source Type: Journal    
DOI: 10.1109/MRA.2007.339609     Document Type: Article

References (46)

1. Y. Ma, S. Soatto, J. Kosecka, and S. Sastry, An Invitation to 3-D Vision: From Images to Geometric Models. New York: Springer-Verlag, 2003.
2. R. Basri, E. Rivlin, and I. Shimshoni, "Visual homing: Surfing on the epipoles," Int. J Comput. Vision, vol. 33, pp. 117-137, Sept. 1999.
3. E. Malis, F. Chaumette, and S. Boudet, "2 1/2 D visual servoing with respect to unknown objects through a new estimation scheme of camera displacement," Int. J. Comput. Vision, vol. 37, pp. 79-97, June 2000.
4. O. Faugeras, Three-dimensional computer vision: A geometric viewpoint Cambridge, MA: MIT Press, 1993.
5. Y. Mezouar and F. Chaumette, "Path planning for robust image-based control," IEEE Trans. Robot. Automa., vol. 18, no. 4 pp. 534-549, Aug. 2002.
6. I. Suh, "Visual servoing of robot manipulators by fuzzy membership function based neural networks," in Visual Servoing, K. Hashimoto, Ed. (World Scientific Series in Robotics and Automated Systems). Singapore: World Scientific Press, 1993, vol. 7, pp. 285-315.
7. G. Wells, C. Venaille, and C. Torras, "Vision-based robot positioning using neural networks," Image Vision Comput. vol. 14, pp. 75-732, Dec. 1996.
8. J.-T. Lapresté, F. Jurie, and F. Chaumette, "An efficient method to compute the inverse jacobian matrix in visual servoing," in Proc. IEEE Int. Conf Robotics Automation, New Orleans, LA, Apr. 2004, pp. 727-732.
9. K. Hosada and M. Asada, "Versatile visual servoing without knowledge of true jacobian," in Proc. IEEE/RSJ Int. Conf Intelligent Robots Systems, Munchen, Germany, Sept. 1994, pp. 186-193.
10. M. Jägersand, O. Fuentes, and R. Nelson, "Experimental evaluation of uncalibrated visual servoing for precision manipulation," in Proc. IEEE Int. Conf. Robotics and Automation, Albuquerque, NM, Apr. 1997, pp. 2874-2880.
11. J. Piepmeier, G.M. Murray, and H. Lipkin, "Uncalibrated dynamic visual servoing," IEEE Trans. Robot. Automat., vol. 20, no. 1, pp. 143-147, Feb. 2004.
12. K. Deguchi, "Direct interpretation of dynamic images and camera motion for visual servoing without image feature correspondence," J. Robot. Mechatron., vol. 9, no. 2, pp. 104-110, 1997.
13. E. Malis, F. Chaumette, and S. Boudet, "2-1/2D visual servoing," IEEE Trans. Robot. Automat., vol. 15, no. 2, pp. 238-250, Apr. 1999.
14. E. Malis and F. Chaumette, "Theoretical improvements in the stability analysis of a new class of model-free visual servoing methods," IEEE Trans. Robot. Automat., vol. 18, no. 2, pp. 176-186, Apr. 2002.
15. J. Chen, D. Dawson, W. Dixon, and A. Behal, "Adaptive homography-based visual servo tracking for fixed and camera-in-hand configurations," IEEE Trans. Control Syst. Technol., vol. 13, no. 9, pp. 814-825, Sept. 2005.
16. G. Morel, T. Leibezeit, J. Szewczyk, S. Boudet, and J. Pot, "Explicit incorporation of 2D constraints in vision-based control of robot manipulators," in Proc. Int. Symp. Experimental Robotics, 2000, vol. 250 LNCIS Series, pp. 99-108.
17. F. Chaumette and E. Malis, "2 1/2 D visual servoing: A possible solution to improve image-based and position-based visual servoings," in Proc. IEEE Int. Conf. Robotics Automation, San Fransisco, CA, Apr. 2000, pp. 630-635.
18. E. Cervera, A.D. Pobil, F. Berry, and P. Martinet, "Improving image-based visual servoing with three-dimensional features," Int. J. Robot. Res., vol. 22, pp. 821-840, Oct. 2004.
19. F. Schramm, G. Morel, A. Micaelli, and A. Lottin, "Extended-2D visual servoing," in Proc. IEEE Int. Conf. Robotics Automation, New Orleans, LA, Apr. 2004, pp. 267-273.
20. P. Corke and S. Hutchinson, "A new partitioned approach to image-based visual servo control," IEEE Trans. Robotics Automation, vol. 17, no. 4, pp. 507-515, Aug. 2001.
21. M. Iwatsuki and N. Okiyama, "A new formulation ofvisual servoing based on cylindrical coordinate system," IEEE Trans. Robot. Automat., vol. 21, no. 2, pp. 266-273, Apr. 2005.
22. F. Chaumette, P. Rives, and B. Espiau, "Classification and realization of the different vision-based tasks," in Visual Servoing, K. Hashimoto, Ed. (Robotics and Automated Systems). Singapore: World Sciendfic, 1993, vol. 7, pp. 199-228.
23. A. Castano and S. Hutchinson, "Visual compliance: Task directed visual servo control," IEEE Trans. Robot. Automat., vol. 10, no. 3, pp. 334-342, June 1994.
24. G. Hager, "A modular system for robust positioning using feedback from stereo vision," IEEE Trans. Robot. Automat., vol. 13, no. 4, pp. 582-595, Aug. 1997.
25. B. Espiau, F. Chaumette, and P. Rives, "A new approach to visual servoing in robotics," IEEE Trans. Robot. Automat., vol. 8, no. 3, pp. 313-326, June 1992.
26. F. Chaumette, "Image moments: A general and useful set of features for visual servoing," IEEE Trans. Robot. Automat., vol. 20, no. 4, pp. 713-723, Aug. 2004.
27. O. Tahri and F. Chaumette, "Point-based and region-based image moments for visual servoing of planar objects," IEEE Trans. Robot., vol. 21, no. 6, pp. 1116-1127, Dec. 2005.
28. N. Papanikolopoulos, P. Khosla, and T. Kanade, "Visual tracking of a moving Larger by a camera mounted on a robot: A combination of vision and control," IEEE Trans. Robot. Automat., vol. 9, no. 1, pp. 14-35, Feb. 1993.
29. K. Hashimoto and H. Kimura, "LQ optimal and nonlinear approaches to visual servoing," in Visual Servoing, K. Hashimoto, Ed. (Robotics and Automated Systems). Singapore: Wolrd Scientific, 1993, vol. 7, pp. 165-198.
30. B. Nelson and P. Khosla, "Strategies for increasing the tracking region of an eye-in-hand system by singularity andjoint limit avoidance," Int. J. Robot. Res., vol. 14, pp. 225-269, June 1995.
31. B. Nelson and P. Khosla, "Force and vision resolvability for assimilating disparate sensory feedback," IEEE Trans. Robot. Automat., vol. 12, no. 5, pp. 714-731, Oct. 1996.
32. R. Sharma and S. Hutchinson, "Motion perceptibility and its application to active vision-based servo control," IEEE Trans. Robot. Automat. vol. 13, no. 4, pp. 607-617, Aug. 1997.
33. E. Marchand, F. Chaumette, and A. Rizzo, "Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing," in Proc. IEEE/RSJ Int. Conf Intelligent Robots Systems, Osaka, Japan, Nov. 1996, pp. 1083-1090.
34. E. Marchand and G. Hager, "Dynamic sensor planning in visual servoing," in Proc. IEEE Int. Conf. Robotics Automation, Leuven, Belgium, May 1998, pp. 1988-1993.
35. N. Cowan, J. Weingarten, and D. Koditschek, "Visual servoing via navigation functions," IEEE Trans. Robot. Automat., vol. 18, no. 4, pp. 521-533, Aug. 2002.
36. N. Gans and S. Hutchinson, "An asymptotically stable switched system visual controller for eye in hand robots," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots Systems, Las Vegas, NV, Oct. 2003, pp. 735-742.
37. G. Chesi, K. Hashimoto, D. Prattichizio, and A. Vicino, "Keeping features in the field of view in eye-in-hand visual servoing: A switching approach," IEEE Trans. Robot. Automat., vol. 20, no. 5, pp. 908-913, Oct. 2004.
38. K. Hosoda, K. Sakamato, and M. Asada, "Trajectory generation for obstacle avoidance of uncalibrated stereo visual servoing without 3D reconstruction," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots Systems, vol. 3, Pittsburgh, PA, Aug. 1995, pp. 29-34.
39. P. Corke and M. Goods, "Controller design for high performance visual servoing," in Proc. 12th World Congr IFAC'93, Sydney, Australia, July 1993, pp. 395-398.
40. F. Bensalah and F. Chaumette, "Compensation of abrupt motion changes in target tracking by visual servoing," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots Systems, Pittsburgh, PA, Aug. 1995, pp. 181-187.
41. P. Allen, B. Yoshimi, A. Timcenko, and P. Michelman, "Automated tracking and grasping of a moving object with a robotic hand-eye system," IEEE Trans. Robot. Automat., vol. 9, no. 2, pp. 152-165, Apr. 1993.
42. K. Hashimoto and H. Kimura, "Visual servoing with non linear observer," in Proc. IEEE Int. Conf. Robotics Automation, Nagoya, Japan, Apr. 1995, pp. 484-489.
43. A. Rizzi and D. Koditschek, "An active visual estimator for dexterous manipulation," IEEE Trans. Robot. Automat., vol. 12, no. 5, pp. 697-713, Oct. 1996.
44. R. Ginhoux, J. Gangloff, M. de Mathelin, L. Soler, M.A. Sanchez, and J. Marescaux, "Active filtering of physiological motion in robotized surgery using predictive control," IEEE Trans. Robot., vol. 21, no. 1, pp. 67-79, Feb. 2005.
45. J. Gangloff and M. de Mathelin, "Visual servoing of a 6 dof manipulator for unknown 3-D profile following," IEEE Trans. Robot. Automat., vol. 18, no. 4, pp. 511-520, Aug. 2002.
46. R. Tsai and R. Lenz, "A new technique for fully autonomous and efficient 3D robotics hand-eye calibration," IEEE Trans. Robot. Automat., vol. 5, no. 3, pp. 345-358, June 1989.