Using Robust Estimation for Visual Servoing Based on Dynamic Vision

• Accurate camera positioning tasks wrt objects of unknown shape

• Unified 2D motion model to cope as well with planar as with non planar objects

• Use of robust estimation to enlarge the validity domain of the 2D motion model / Comparison with active vision

• Positioning tasks for any desired orientation of the camera

Christophe Collewet and François Chaumette INRIA/IRISA, Campus de Beaulieu, Rennes, France

Position after servoing