Geometric and end-to-end visual servoing
Résumé
As for humans and most animals, vision is a crucial sense for a robot
to interact within its environment. Vision-based robot motion control,
also named visual servoing, is a general approach to close the
perception-action loop. It has given rise to an incredible amount of
research and successful applications from the creation of the fields of
robotics and computer vision several decades ago. The aim of this
talk is to provide a comprehensive state of the art on the basic
concepts, methodologies, and applications.
In a first part, the traditional approach based on geometric visual features, such as image points, image moments, or camera-object pose will be described. The more recent end-to-end approach that directly uses the image content without any image tracking nor matching process will be also considered, providing a link to CNN modern methods that use the same inputs.