Implementation of Position-Based Visual Servoing (PBVS) under simulation. PBVS is a model-based technique (with a single camera). This is because the pose of the object of interest is estimated with respect to the camera and then a command is issued to the robot controller, which in turn controls the robot. In this case the image features are extracted as well, but are additionally used to estimated 3D information (pose of the object in Cartesian space), hence it is servoing in 3D.

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Instituto IDF

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