Visual servoing
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Visual servoing is a robot control technique that uses real-time visual feedback from cameras to guide a robot's motion toward a desired goal. Rather than relying solely on pre-programmed trajectories or fixed sensors, the robot continuously processes image data and adjusts its movements based on what it "sees." The two principal approaches are image-based visual servoing (IBVS), which minimizes error directly in the 2D image plane, and position-based visual servoing (PBVS), which reconstructs 3D pose information to drive the robot in Cartesian space. A hybrid "2½D" approach combines advantages of both. Visual servoing is widely used in robotic manipulation, grasping, medical robotics, and autonomous navigation, enabling robots to adapt to uncertainties in object placement and calibration errors. It matters because it provides robust, closed-loop control that compensates for modeling inaccuracies and environmental variability — capabilities that are essential for deploying robots reliably in unstructured, real-world settings. Modern advances increasingly integrate deep learning to handle complex scenes without precise calibration.
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Visual servo control. I. Basic approaches
François Chaumette, Seth Hutchinson
Citations: 2431 • 2006
A new approach to visual servoing in robotics
Bernard Espiau, François Chaumette, Patrick Rives
Citations: 1357 • 1993
A new approach to visual servoing in robotics
Bernard Espiau, François Chaumette, Patrick Rives
Citations: 1330 • 1992
Visual servo control. II. Advanced approaches [Tutorial]
François Chaumette, Seth Hutchinson
Citations: 992 • 2007
2 1/2 D visual servoing
Ezio Malis, François Chaumette, S. Boudet
Citations: 943 • 1999
Dynamic sensor-based control of robots with visual feedback
L.E. Weiss, Arthur C. Sanderson, Charles P. Neuman
Citations: 822 • 1987
Tactile sensing in dexterous robot hands — Review
Zhanat Kappassov, Juan Antonio Corrales Ramón, Véronique Perdereau
Citations: 748 • 2015
Relative end-effector control using Cartesian position based visual servoing
W.J. Wilson, Carol Hulls, Gregory Bell
Citations: 621 • 1996
Kalman Filter for Robot Vision: A Survey
Shengyong Chen
Citations: 559 • 2011
ViSP for visual servoing: a generic software platform with a wide class of robot control skills
Éric Marchand, Fabien Spindler, François Chaumette
Citations: 526 • 2005
A new partitioned approach to image-based visual servo control
Peter Corke, Seth Hutchinson
Citations: 464 • 2001
RHex: A Biologically Inspired Hexapod Runner
Richard Altendorfer, N. Moore, M. Buehler, H.B. Brown, D. McMordie, Uluc̣ Saranlı, Robert J. Full, Daniel E. Koditschek
Citations: 408 • 2001
Path planning for robust image-based control
Youcef Mezouar, François Chaumette
Citations: 379 • 2002
Versatile visual servoing without knowledge of true Jacobian
Koh Hosoda, Minoru Asada
Citations: 345 • 2002
Homography-based 2D Visual Tracking and Servoing
Selim Benhimane, Ezio Malis
Citations: 326 • 2007
Potential problems of stability and convergence in image-based and position-based visual servoing
François Chaumette
Citations: 314 • 1997
Uncalibrated visual servoing of robots using a depth-independent interaction matrix
Yunhui Liu, Hesheng Wang, Chengyou Wang, Kin Kwan Lam
Citations: 310 • 2006
Robust asymptotically stable visual servoing of planar robots
Rafael Kelly
Citations: 309 • 1996
Vision-guided servoing with feature-based trajectory generation (for robots)
John T. Feddema, O.R. Mitchell
Citations: 305 • 1989
Vision-based navigation and environmental representations with an omnidirectional camera
José Gaspar, Niall Winters, José Santos-Victor
Citations: 299 • 2000