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Choice of image features for depth-axis control in image based visual servo control

Mahony, Robert; Corke, Peter Ian; Chaumette, Francois


This paper is concerned with choosing image features for image based visual servo control and how this choice influences the closed-loop dynamics of the system. In prior work, image features tend to be chosen on the basis of image processing simplicity and noise sensitivity. In this paper we show that the choice of feature directly influences the closed-loop dynamics in task-space. We focus on the depth axis control of a visual servo system and compare analytically various approaches that have...[Show more]

CollectionsANU Research Publications
Date published: 2002
Type: Conference paper
Source: Proceedings of the 2002 IEEE/ RSJ International Conference on Intelligent Robots and Systems


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