A review of the development of direct vision servo technology for robot control
HUANG Meng-jie
YE Lei
YI Fan-xiao
WANG Qian
Abstract：Visual servo is a method that uses image information to realize closed-loop control of robots,which has a wide range of applications in mobile robot navigation control and high-precision control of robotic arms.Compared with the classical visual servo method based on local features,direct visual servo technology makes more use of image global information,which has great advantages in the robustness and convergence of the control system.So this paper focuses on direct visual servo technology from two parts:visual processing and controller designing.This paper first introduces the classical visual servo framework,then studies the visual feature description method and the feature similarity measurement method in direct visual servo technology,and compares the differences in the performance of different feature description methods in convergence domain and computing amount,and then studies the controller design methods based on optimization strategy like nonlinear optimization in direct visual servo,and finally looks forward to the role of deep learning in direct visual servo.
Keywords：robot controlvisual servodirect visual servodescription methods of image featuressimilarity measuresoptimize control strategies
Publication Date：2025-09-30
Online Publishing Date：2025-10-28(First online date of this platform, not the publication date of the document)
Pages：19( 1681-1699 )