{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,27]],"date-time":"2026-06-27T15:27:30Z","timestamp":1782574050014,"version":"3.54.5"},"reference-count":44,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2002,8,1]],"date-time":"2002-08-01T00:00:00Z","timestamp":1028160000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2002,8]]},"abstract":"<jats:p>In this paper, we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations, which allows us to define a new representation, the so-called binormalized Pl\u00fccker coordinates. These are particularly well suited for visual servoing. Indeed, they allow the definition of an image line alignment concept. Moreover, the control law which realizes such an alignment has several properties: partial decoupling between rotation and translation, analytical inversion of the motion equations and global asymptotic stability conditions. This control law was validated both in simulation and experimentally in the specific case of an orthogonal trihedron.<\/jats:p>","DOI":"10.1177\/027836402761412430","type":"journal-article","created":{"date-parts":[[2003,6,23]],"date-time":"2003-06-23T19:42:18Z","timestamp":1056397338000},"page":"679-699","source":"Crossref","is-referenced-by-count":88,"title":["Visual Servoing from Lines"],"prefix":"10.1177","volume":"21","author":[{"given":"Nicolas","family":"Andreff","sequence":"first","affiliation":[{"name":"LaRAMA - UBP, Institut Fran\u00e7ais de M\u00e9canique                         Avanc\u00e9e BP 265, 63175 Aubi\u00e8re Cedex, France,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bernard","family":"Espiau","sequence":"additional","affiliation":[{"name":"INRIA Rh\u00f4ne-Alpes and GRAVIR-IMAG 655, av. de l'Europe, 38330                         Montbonnot Saint Martin, France,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Radu","family":"Horaud","sequence":"additional","affiliation":[{"name":"INRIA Rh\u00f4ne-Alpes and GRAVIR-IMAG 655, av. de l'Europe, 38330                         Montbonnot Saint Martin, France,"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2002,8,1]]},"reference":[{"key":"atypb1","volume-title":"Proc. 8th International Symposium on Advances in Robot Kinematics (ARK2002)","author":"Andreff, N."},{"key":"atypb2","volume-title":"Visual Servoing from Lines. 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