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Visual servoing with respect to complex objects

This paper presents new advances in the field of visual servoing. More precisely, we consider the case where complex objects are observed by a camera. In a first part, planar objects of unknown shape are considered using image moments as input of the image-based control law. In the second part, a pose estimation and tracking algorithm is described to deal with real objects whose 3D model is known. For each case, experimental results obtained with an eye-in-hand system are presented.