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Journal Articles IEEE Transactions on Robotics Year : 2006

Statistically robust 2D visual servoing


A fundamental step towards broadening the use of real world image-based visual servoing is to deal with the important issue of reliability and robustness. In order to address this issue, a closed loop control law is proposed that simultaneously accomplishes a visual servoing task and is robust to a general class of image processing errors. This is achieved with the application of widely accepted statistical techniques such as robust M-estimation and LMedS. Experimental results are presented which demonstrate visual servoing tasks that resist severe outlier contamination.
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inria-00350284 , version 1 (06-01-2009)


  • HAL Id : inria-00350284 , version 1


Andrew Comport, E. Marchand, François Chaumette. Statistically robust 2D visual servoing. IEEE Transactions on Robotics, 2006, 22 (2), pp.415-421. ⟨inria-00350284⟩
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