Robust image-based visual servoing using invariant visual information

Authors:
Omar Tahri;Helder Araujo;François Chaumette;Youcef Mezouar
Affiliations:
-;-;-;-
Venue:
Robotics and Autonomous Systems
Year:
2013

Citing 6
Cited 0

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Abstract

This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal.