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Image-based Visual Servoing

by Yuanqiang Evan Dong


    Any control system using visual-sensory feedback loops falls into one of four categories. These categories are derived from choices made regarding two criteria: the coordinate space of the error function, and the hierarchical structure of the control system. These choices will determine whether the system is a position-based or an image-based system, as well as if it is a dynamic look-and-move or a direct visual servo.

    In our work, we present an image-based, dynamic look and move visual servoing system. The difference between our approach and other popular ones is in the use of quaternion representation, which eliminates the potential singularities introduced by a rotational matrix representation.



    This visual servoing system was tested in real Kawasaki robot. Specifically, the system was tested in three different scenarios: pure linear motion, pure angular motion and hybrid motion.

    A. Pure linear motion


    B. Pure angular motion


    C. Hybrid motion




  1. Koenig, T., Dong, Y., and DeSouza, G. N., "Image-based Visual Servoing of a Real Robot Using a Quaternion Formulation," in the Proceedings of the IEEE International Conference on Robotics, Automation & Mechatronics (RAM), pp. 216-221 Sept./08, China.
  2. Koenig, T., and DeSouza, G. N., "Implementation of a Homography-based Visual Servo Control using a Quaternion Formulation," in the Proceedings of the 2008 IFAC International Conference on Informatics in Control, Automation and Robotics (ICINCO), pp. 288-294, May 2008, Portugal
  3. DeSouza G.N. and Kak A.C., " A Subsumptive, Hierarchical, and Distributed Vision-Based Architecture for Smart Robotics", IEEE Transactions on Systems, Man, and Cybernetics Part B, Vol. 34, No. 5, Oct. 2004.





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