Characteristics of robot visual servoing methods and target model estimation

摘要

This paper presents a review of characteristics of the two main visual servoing methods: image-based visual servoing and position-based visual servoing. First, a generic structure is defined with an emphasis on the same system inputs and outputs for the two methods. The stability, robustness, sensitivity, and other general characteristics of the methods are presented. To overcome the dependency of both methods on a known target model, a midpoint triangulation method is proposed to estimate the unknown target model for robot visual servoing.