One major classification of robot visual servoing system distinguishes position-based control form image-based control based on the error signal is defined in 3D coordinates or directly in terms of image features. 目前,机器人视觉伺服系统根据视觉反馈信号表示的是3D空间坐标值或是图像特征值而分为基于位置的(position-based)和基于图像的(image-based)视觉闭环反馈两种方式。
Entry form through the control or city strengthen people and urban spatial happen dialogue, communication, and, to some extent, with the most direct way to shape the image of the city. 城市入口形态通过控制或加强人们与城市空间发生对话、交流,在一定程度上以最直接的方式塑造着城市形象。