Visual servoing for large camera displacements

@article{Chesi2004VisualSF,
  title={Visual servoing for large camera displacements},
  author={Graziano Chesi and Antonio Vicino},
  journal={IEEE Transactions on Robotics},
  year={2004},
  volume={20},
  pages={724-735}
}
The first aim of any visual-servoing strategy is to avoid features being lost from the field of view and that the desired location may not be reached. However, avoiding both these system failures turns out to be very difficult, especially when the initial and desired locations are distant. Moreover, the methods that succeed in presence of large camera displacements often produce a long translational trajectory that may not be allowed by the robot workspace and/or joint limits. In this paper, a… CONTINUE READING
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