Visual Servoing by Optimization of a 2D/3D Hybrid Objective Function

  title={Visual Servoing by Optimization of a 2D/3D Hybrid Objective Function},
  author={A. H. Abdul Hafez and C. V. Jawahar},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
In this paper, we present a new hybrid visual servoing algorithm for robot arm positioning task. Hybrid methods in visual servoing partially combine the 2D and 3D visual information to improve the performance of the traditional image-based and position-based visual servoing. Our algorithm is superior to the state of the art hybrid methods. The objective function has been designed to include the full 2D and 3D information available either from the CAD model or from the partial reconstruction… CONTINUE READING
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