A Tutorial on Visual Servo Control-英文文献.pdf

A Tutorial on Visual Servo Control Seth Hutchinson Department of Electrical and Computer Engineering The Beckman Institute for Advanced Science and Technology University of Illinois at UrbanaChampaign N Mathews Avenue Urbana IL Email sethuiucedu Greg Hager Department of Computer Science Yale University New Haven CT Phone Email hagercsyaleedu Peter Corke CSIRO Division of Manufacturing Technology PO Box Kenmore Australia picbrbdmtcsiroau May Abstract This p aper pr ovides a tutorial introduction to visual servo control of robotic manipulators Since the topic spans many disciplines our goal is limited to providing a basic conceptual frame work We begin by reviewing the prerequisite topics from robotics and computer vision including a brief review of coordinate transformations velocity representation and a description of the geometric aspects of the image formation process We then present a taxonomy of visual servo control systems The two major classes of systems positionbased and imagebased systems are then discussed Since any visual servo system must be capable of tracking image fe atures in a sequence of images we include an overview of featurebased and correlationbased methods for tracking We conclude the tutorial with a number of observations on the current directions of the research eld of visual servo control