1. What contributions have the authors mentioned in the paper "Robot visual control" ?
In this paper, the basic concepts of vision-based control are presented, that is, the use of visual data to control the motions of a robotics system.
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Robot Visual Control
François Chaumette
- 01 Jan 2015
- pp 1188-1194
TL;DR: This article describes the basic concepts of vision-based control, that is, the use of visual data to control the motions of a robotics system, and the modeling steps allowing the design of kinematics control schemes.
read more
Abstract: This article describes the basic concepts of vision-based control, that is, the use of visual data to control the motions of a robotics system. It describes the modeling steps allowing the design of kinematics control schemes. Applications are also described.
read more
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Figures
Fig. 2. If the goal is to move the camera from frame Rc to the desired frame Rc∗ , two main approaches are possible: IBVS on the left, where the features s and s∗ are expressed in the image, and PBVS on the right, where the features s and s∗ are related to the pose between the camera and the observed object. 
Fig. 4. Few applications of visual servoing: navigation of a mobile robot to follow a wall using an omnidirectional vision sensor (top line), grasping a ball with a humanoid robot (middle line), assembly of MEMS and film of a dialogue within the constraints of a script in animation (bottom line). 
Fig. 1. Few images acquired during two visual servoing tasks: on the top, pedestrian tracking using a pan-tilt camera; on the bottom, controlling the 6 degrees of freedom of an eye-in-hand system so that an object appears at a particular position in the image (shown in blue). 
Fig. 3. In visual servoing, the vision sensor can be either mounted near the robot end-effector (eyein-hand configuration) or outside and observing the end-effector (eye-to-hand configuration). For the same robot motion, the motion produced in the image will be opposite from one configuration to the other.
Citations
Structure and Motion for Intelligent Vehicles Using an Uncalibrated Two-Camera System
Xinfang Zhang,Jian Chen,Jianqiang Deng,Rong Wang,Wenyi Xiong,Qi Wang +5 more
TL;DR: In this article , the structure and motion of a moving object are asymptotically estimated by an uncalibrated vehicle-mounted two-camera system under uneven road condition.
3
Self-initialized Visual Servoing for Accurate End-effector Positioning
Bernhard Neuberger,Timothy Patten,Kiru Park,Markus Vincze +3 more
- 20 Apr 2020
TL;DR: This work presents an integrated system to servo towards a target with automatic initialization, and results in successful end-effector positioning from arbitrary initial positions with 7 degree of freedom robotic arm.
2
Structure and Motion for Intelligent Vehicles Using an Uncalibrated Two-Camera System
TL;DR: In this article , the structure and motion of a moving object are asymptotically estimated by an uncalibrated vehicle-mounted two-camera system under uneven road condition.
2
Vision Based Attitude Control
Maroš Hladký
- 01 Jan 2018
TL;DR: The problematics of precise pointing and more specifically an attitude control is present sincethe first days of flight and Aerospace engineering as mentioned in this paper, and precise pointing is a matter of necessity.
References
A tutorial on visual servo control
Seth Hutchinson,Gregory D. Hager,Peter Corke +2 more
- 01 Oct 1996
TL;DR: This article provides a tutorial introduction to visual servo control of robotic manipulators 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.
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End-to-End Training of Deep Visuomotor Policies
TL;DR: In this paper, a guided policy search method is used to map raw image observations directly to torques at the robot's motors for manipulation tasks such as screwing a cap onto a bottle.
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A new technique for fully autonomous and efficient 3D robotics hand/eye calibration
Roger Y. Tsai,R.K. Lenz +1 more
- 01 Jun 1989
TL;DR: In this article, the authors describe a technique for computing position and orientation of a camera relative to the last joint of a robot manipulator in an eye-on-hand configuration, which takes only about 100+64N arithmetic operations to compute the hand/eye relationship after the robot finishes the movement, and incurs only additional 64 arithmetic operations for each additional station.
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Task-priority based redundancy control of robot manipulators
TL;DR: The concept of task priority in relation to the inverse kinematic problem of redundant robot manipulators is introduced and the effectiveness of the proposed redundancy control scheme is shown.
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Robotics, Vision and Control
Peter Corke
- 01 Jan 2011
TL;DR: This second edition of this book is completely revised, updated and extended with coverage of Lie groups, matrix exponentials and twists; inertial navigation; differential drive robots; lattice planners; pose-graph SLAM and map making; restructured material on arm-robot kinematics and dynamics; series-elastic actuators and operationalspace control.
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