Visual servoing

Philippe Martinet

LASMEA-CNRS & IFMA, Campus des Cezeaux, 63177 Aubière, France

This lecture will present recent advances in visual servoing.

First we will present a global introduction to visual servoing. This will include some knowledge on geometrical vision (camera model, camera calibration, 3D reconstruction), some knowledge on sensor based control, the state of the art and bibliography issue, and some applications with video illustration.

Second we will proceed on modelling issue. We will address the case of 3D features and 2D features. If time allow it, I will make a demonstration using the visual servoing toolbox using matlab/simulink.