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--- abstract: | Visual servoing is a process to enable a robot to position a camera with respect to known landmarks using the visual data obtained by the camera itself to guide camera motion. A solution is described which requires very little a priori information freeing it from being specific to a particular configuration of robot and camera. The solution is based on closed loop control together with deliberate perturbations of the trajectory to provide calibration movements for refining that trajectory. Results from experiments in simulation and on a physical robot arm (camera-in-hand configuration) are presented. altloc: [] chapter: ~ commentary: ~ commref: ~ confdates: 1996 conference: 7th British Machine Vision Conference confloc: Edinburgh contact_email: ~ creators_id: [] creators_name: - family: Spratling given: M. W. honourific: '' lineage: '' - family: Cipolla given: R. honourific: '' lineage: '' date: 1996 date_type: published datestamp: 2002-08-08 department: ~ dir: disk0/00/00/23/78 edit_lock_since: ~ edit_lock_until: ~ edit_lock_user: ~ editors_id: [] editors_name: - family: Fisher given: R. B. honourific: '' lineage: '' - family: Trucco given: E. honourific: '' lineage: '' eprint_status: archive eprintid: 2378 fileinfo: /style/images/fileicons/application_postscript.png;/2378/1/vis_servo.ps.gz full_text_status: public importid: ~ institution: ~ isbn: ~ ispublished: pub issn: ~ item_issues_comment: [] item_issues_count: 0 item_issues_description: [] item_issues_id: [] item_issues_reported_by: [] item_issues_resolved_by: [] item_issues_status: [] item_issues_timestamp: [] item_issues_type: [] keywords: ~ lastmod: 2011-03-11 08:54:58 latitude: ~ longitude: ~ metadata_visibility: show note: ~ number: ~ pagerange: 545-554 pubdom: FALSE publication: ~ publisher: ~ refereed: TRUE referencetext: ~ relation_type: [] relation_uri: [] reportno: ~ rev_number: 8 series: ~ source: ~ status_changed: 2007-09-12 16:44:28 subjects: - comp-sci-mach-vis - comp-sci-robot succeeds: ~ suggestions: ~ sword_depositor: ~ sword_slug: ~ thesistype: ~ title: Uncalibrated visual servoing type: confpaper userid: 1040 volume: ~