Visual servoing and visual tracking

International audienceThis chapter introduces visual servo control, using computer vision data in the servo loop to control the motion of a robot. We first describe the basic tech- niques that are by now well established in the field. We give a general overview of the formulation of the visual servo control problem, and describe the two archetypal visual servo control schemes: image-based and position-based visual servo control. We then dis- cuss performance and stability issues that pertain to these two schemes, motivating advanced techniques. Of the many advanced techniques that have been de- veloped, we discuss 2 1/2 D, hybrid, partitioned and switched approaches. Having covered a variety of control schemes, we conclude by turning briefly to the problems of target tracking and controlling mo- tion directly in the joint space