Relative visual servoing

In this paper, we present two methods of performing eye-to-hand visual servoing: relative visual servoing and interpolation. These methods need only a monocular eye-to-hand camera and primitive tactile sensors. The set-up is part of a humanoid robot under development, named COERSU. Experimental results from COERSU are provided to validate these methods. An evolved visual perception system based on genetic algorithms was used to obtain the best possible combination of segmentation parameters. The experimental results show, relative visual servoing represents a significant improvement over the other methods in terms of reliability.