Visual Servoing in Python

This is a minimal application for simulating a Visual Servoing control scheme and rendering the resulting images.

Installation

git clone https://github.com/FedericoVasile1/visual-servoing
cd visual-servoing
conda create -n vservo python=3.10
conda activate vservo
pip install -r requirements.txt

Usage

Scenario 1: we extract image-plane points from the object in the scene and use them to servo the free-flying camera to the desired objective (i.e., move the camera so that the object appears at the center of the image).

python run_vservo_freecamera.py

Scenario 2: instead of a free-flying camera, we consider a robot arm with a camera mounted on the end-effector. Specifically, the arm is fixed at the base, and we control the 2 rotational DoFs of the wrist (flexion-extension and pronation-supination, this is the kinematic chain used in our work) to make it point at the object in the scene.

python run_vservo_spatial2r.py

Citation

If you find our work useful, please consider citing our paper as follows:

@inproceedings{vasile2025continuous,
  title={Continuous Wrist Control on the Hannes Prosthesis: a Vision-based Shared Autonomy Framework},
  author={Vasile, Federico and Maiettini, Elisa and Pasquale, Giulia and Boccardo, Nicol{\`o} and Natale, Lorenzo},
  booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={},
  year={2025},
}

Mantainer

This repository is mantained by:

	@FedericoVasile1