Household Service Robotics

Chapter 5.3

Robust Visual Servoing¹

D. Kragic,  and H.I. Christensen     Center for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden

Abstract

For service robots operating in domestic environments, it is not enough to consider only control level robustness; it is equally important to consider how image information that serves as input to the control process can be used so as to achieve robust and efficient control. In this chapter we present an effort toward the development of robust visual techniques used to guide robots in various tasks. Given a task at hand, we argue that different levels of complexity should be considered; this also defines the choice of the visual technique used to provide the necessary feedback information. ...