A survey of robot visual servoing

In this survey of visual servoing in robotics three visual servoing strategies are discussed:position-based visual servoing,image-based visual servoing,and 2.5 D visual servoing.The main research directions and some challenging problems in the visual servoing field are discussed,including the extraction of position/pose information from images,uncertainties in visual servoing systems,path planning in an image space,and intelligent visual seroving.Additionally,possible future research areas are analyzed.Examples are the challenge of keeping reference points within camera images,fast servoing strategies,and robust visual servoing technologies.