Orthogonal Image Features for Visual Servoing of a 6-DOF Manipulator With Uncalibrated Stereo Cameras.

We present an approach to control a 6-degree-of-freedom (DOF) manipulator using an uncalibrated visual servoing (VS) approach that addresses the challenges of choosing proper image features for target objects and designing a VS controller to enhance the tracking performance. The main contribution of this paper is the definition of a new virtual visual space (image space). A novel stereo camera mod...