Comparison of visual servoing techniques: Experimental results

In visual servoing applications, two main approaches were defined by Sanderson and Weiss at the beginning of the eighties: Position Based Control and Image Based Control. The aim of this article is to present different control laws using these approaches, and discuss the main advantages and disadvantages of both approaches through experimental results. The target object is composed of four non-coplanar characteristic points. From the projection of these four points in the image frame, the estimate of the Pose of the object in the sensor frame is computed using the Dementhon algorithm.