?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Uncalibrated+visual+servoing&rft.creator=Spratling%2C+M.+W.&rft.creator=Cipolla%2C+R.&rft.subject=Machine+Vision&rft.subject=Robotics&rft.description=Visual+servoing+is+a+process+to+enable+a+robot+to+position+a+camera+with%0Arespect+to+known+landmarks+using+the+visual+data+obtained+by+the+camera%0Aitself+to+guide+camera+motion.+A+solution+is+described+which+requires+very%0Alittle+a+priori+information+freeing+it+from+being+specific+to+a+particular%0Aconfiguration+of+robot+and+camera.+The+solution+is+based+on+closed+loop%0Acontrol+together+with+deliberate+perturbations+of+the+trajectory+to+provide%0Acalibration+movements+for+refining+that+trajectory.++Results+from%0Aexperiments+in+simulation+and+on+a+physical+robot+arm+(camera-in-hand%0Aconfiguration)+are+presented.%0A&rft.contributor=Fisher%2C+R.+B.&rft.contributor=Trucco%2C+E.&rft.date=1996&rft.type=Conference+Paper&rft.type=PeerReviewed&rft.format=application%2Fpostscript&rft.identifier=http%3A%2F%2Fcogprints.org%2F2378%2F1%2Fvis_servo.ps.gz&rft.identifier=++Spratling%2C+M.+W.+and+Cipolla%2C+R.++(1996)+Uncalibrated+visual+servoing.++%5BConference+Paper%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F2378%2F