Improvements in robust 2D visual servoing

  title={Improvements in robust 2D visual servoing},
  author={{\'E}ric Marchand and Andrew I. Comport and François Chaumette},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  pages={745-750 Vol.1}
A fundamental step towards broadening the use of real world image-based visual servoing is to deal with the important issues 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 of robust M-estimation. Furthermore, improvement have been added in the… CONTINUE READING