On the stability of visual servoing using a 3D-camera

Boris Lohmann, Thorsten Lietmann

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations


Besides conventional 2D image information, a special laser-based camera delivers depth information related to each image dot, i.e. a full 3D image. Such camera systems suggest themselves for increasing autonomy of robots and vehicles. If instead of distances/angles between camera and objects some image coordinates of features are used as control output variables the resulting control scheme is referred to as Image-Based Visual Servoing (IBVS). After a short introduction into the principles of IBVS, a general parametric control scheme (based on the image-jacobian-matrix) is given and its stability properties are discussed, both, for a general camera configuration and for the particular case of the 3D-camera. It turns out that in this particular case stability can be proved by investigating the semi-definiteness of the derivative V of some Lyapunov function V which is the main result of this paper.

Original languageEnglish
Title of host publication2001 European Control Conference, ECC 2001
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Electronic)9783952417362
StatePublished - 2001
Externally publishedYes
Event6th European Control Conference, ECC 2001 - Porto, Portugal
Duration: 4 Sep 20017 Sep 2001

Publication series

Name2001 European Control Conference, ECC 2001


Conference6th European Control Conference, ECC 2001


  • Autonomous Robots
  • Image-Jacobian-Matrix
  • Laser-Based 3D-Camera
  • Lyapunov Stability Theory
  • Visual Servoing


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