An analytic solution for the perspective 4-point problem
Computer Vision, Graphics, and Image Processing
Modern control engineering (3rd ed.)
Modern control engineering (3rd ed.)
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
A Four-step Camera Calibration Procedure with Implicit Image Correction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Motion Generation in the MRROC++ Robot Programming Framework
International Journal of Robotics Research
Visual servoing for large camera displacements
IEEE Transactions on Robotics
Keeping features in the field of view in eye-in-hand visual servoing: a switching approach
IEEE Transactions on Robotics
A new formulation of visual servoing based on cylindrical coordinate system
IEEE Transactions on Robotics
Point-based and region-based image moments for visual servoing of planar objects
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Uncalibrated visual servoing of robots using a depth-independent interaction matrix
IEEE Transactions on Robotics
Ensuring visibility in calibration-free path planning for image-based visual servoing
IEEE Transactions on Robotics
Stable Visual Servoing Through Hybrid Switched-System Control
IEEE Transactions on Robotics
Dynamic Visual Tracking for Manipulators Using an Uncalibrated Fixed Camera
IEEE Transactions on Robotics
Robust Jacobian matrix estimation for image-based visual servoing
Robotics and Computer-Integrated Manufacturing
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The paper classifies visual servos and using this classification derives their possible structures. It also analyzes the influence of robot-model calibration and robot-camera calibration on the derived control structures. The systematic derivation of possible structures of visual servos enabled the creation of software patterns within the MRROC++ (Zielinski et al., 2007) [29] robot programming framework facilitating their implementation. Those considerations are preceded by a brief introduction defining the principal concepts used in the paper. The paper is concluded by presenting the use of the derived structures in the experiments with grasping static and tracking moving objects. The paper highlights the advantages and drawbacks of the presented structures.