Advanced Visual Servoing

  • Peter Corke
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 73)


This chapter builds on the previous one and introduces some advanced visual servo techniques and applications. Section 16.1 introduces a hybrid visual servo method that avoids some of the limitations of the IBVS and PBVS schemes described previously.

Wide-angle cameras such as fisheye lenses and catadioptric cameras have significant advantages for visual servoing. Section 16.2 shows how IBVS can be reformulated for polar rather than Cartesian image-plane coordinates. This is directly relevant to fisheye lenses but also gives improved rotational control when using a perspective camera. The unified imaging model from Sect. 11.4 allows most cameras (perspective, fisheye and catadioptric) to be represented by a spherical projection model, and Sect. 16.3 shows how IBVS can reformulated for spherical coordinates.

The remaining sections present a number of application examples. These illustrate how visual servoing can be used with different types of cameras (perspective and spherical) and different types of robots (arm-type robots, mobile ground robots and flying robots). Section 16.4 considers a 6 degree of freedom robot arm manipulating the camera. Section 16.5 considers a mobile robot moving to a specific pose which could be used for navigating through a doorway or docking. Finally, Sect. 16.6 considers visual servoing of a quadrotor flying robot to hover at fixed pose with respect to a target on the ground.


Mobile Robot Feature Error Visual Servo Fisheye Lens Perspective Camera 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Peter Corke

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