{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:58:36Z","timestamp":1777715916737,"version":"3.51.4"},"reference-count":34,"publisher":"SAGE Publications","issue":"10-11","license":[{"start":{"date-parts":[[2003,10,1]],"date-time":"2003-10-01T00:00:00Z","timestamp":1064966400000},"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":[[2003,10]]},"abstract":"<jats:p>Neither of the classical visual servoing approaches, position-based and image-based, are completely satisfactory. In position-based visual servoing the trajectory of the robot is well stated, but the approach suffers mainly from the image features going out of the visual field of the cameras. On the other hand, image-based visual servoing has been found generally satisfactory and robust in the presence of camera and hand-eye calibration errors. However, in some cases, singularities and local minima may arise, and the robot can go further from its joint limits. This paper is a step towards the synthesis of both approaches with their particular advantages, i.e., the trajectory of the camera motion is predictable and the image features remain in the field of view of the camera. The basis is the introduction of three-dimensional information in the feature vector. Point depth and object pose produce useful behavior in the control of the camera. Using the task-function approach, we demonstrate the relationship between the velocity screw of the camera and the current and desired poses of the object in the camera frame. Camera calibration is assumed, at least coarsely. Experimental results on real robotic platforms illustrate the presented approach.<\/jats:p>","DOI":"10.1177\/027836490302210003","type":"journal-article","created":{"date-parts":[[2003,10,15]],"date-time":"2003-10-15T16:35:03Z","timestamp":1066235703000},"page":"821-839","source":"Crossref","is-referenced-by-count":42,"title":["Improving Image-Based Visual Servoing with Three-Dimensional Features"],"prefix":"10.1177","volume":"22","author":[{"given":"E.","family":"Cervera","sequence":"first","affiliation":[{"name":"Robotic Intelligence Laboratory Jaume-I University 12071                         Castell\u00f3, Spain,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A. P.","family":"del Pobil","sequence":"additional","affiliation":[{"name":"Robotic Intelligence Laboratory Jaume-I University 12071                         Castell\u00f3, Spain,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F.","family":"Berry","sequence":"additional","affiliation":[{"name":"LASMEA - GRAVIR Blaise Pascal University of Clermont-Ferrand 63177                         Aubi\u00e8re - Cedex, France,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"P.","family":"Martinet","sequence":"additional","affiliation":[{"name":"LASMEA - GRAVIR Blaise Pascal University of Clermont-Ferrand 63177                         Aubi\u00e8re - Cedex, France,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2003,10,1]]},"reference":[{"key":"atypb1","first-page":"1065","volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","author":"Berry, F."},{"key":"atypb2","first-page":"513","volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","author":"Berry, F."},{"issue":"7","key":"atypb3","first-page":"1358","volume":"83","author":"Berry, F.","year":"2000","journal-title":"IEICE Transactions on Information and Systems, Special Issue on Machine Vision Applications"},{"key":"atypb4","first-page":"445","volume-title":"Proceedings of the International Conference on Advanced Robotics","author":"Cervera, E."},{"key":"atypb5","first-page":"381","volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","author":"Cervera, E."},{"key":"atypb6","first-page":"456","volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Cervera, E."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0109663"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844123"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2000.914182"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1007\/BF01450852"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/70.143350"},{"key":"atypb12","volume-title":"Three-Dimensional Computer Vision: A Geometric Viewpoint","author":"Faugeras, O.","year":"1993"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/70.538977"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2000.894641"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1109\/70.538972"},{"issue":"3","key":"atypb16","first-page":"404","volume":"5","author":"Janabi-Sharifi, F.","year":"1997","journal-title":"IEEE Journal of Robotics and Automation"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2000.894613"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.846339"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1109\/70.760345"},{"key":"atypb20","first-page":"1083","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Marchand, E."},{"key":"atypb21","first-page":"262","volume-title":"Proceedings of the IEEE International Conference on Computer Vision","author":"Marchand, E."},{"key":"atypb22","first-page":"531","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Martinet, P."},{"key":"atypb23","first-page":"497","volume-title":"World Automation Congress, WAC'96, Robotics and Manufacturing Systems","author":"Martinet, P."},{"key":"atypb24","first-page":"1866","volume-title":"Proceedings IROS'93","author":"Maru, N."},{"key":"atypb25","first-page":"439","volume-title":"Proceedings of the IEEE International Conference on Advanced Robotics","author":"Maruyama, A."},{"key":"atypb26","unstructured":"Mezouar, Y. 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Ph.D. Thesis, IRISA\/INRIARennes, Rennes, France."},{"key":"atypb27","first-page":"731","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Mezouar, Y."},{"key":"atypb28","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0119389"},{"key":"atypb29","doi-asserted-by":"publisher","DOI":"10.1007\/BF01424011"},{"key":"atypb30","series-title":"Oxford Engineering Science Series","volume-title":"Robot Control: the Task Function Approach","author":"Samson, C.","year":"1991"},{"key":"atypb31","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)37929-6"},{"key":"atypb32","first-page":"1624","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Thuilot, B."},{"key":"atypb33","doi-asserted-by":"publisher","DOI":"10.1109\/70.538974"},{"key":"atypb34","first-page":"2088","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Zanne, P."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836490302210003","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836490302210003","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:51Z","timestamp":1777457811000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836490302210003"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2003,10]]},"references-count":34,"journal-issue":{"issue":"10-11","published-print":{"date-parts":[[2003,10]]}},"alternative-id":["10.1177\/027836490302210003"],"URL":"https:\/\/doi.org\/10.1177\/027836490302210003","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2003,10]]}}}