THE EFFICIENT E-3D VISUAL SERVOING

A vision-based control technique is proposed to automatically drive a robot to a given desired pose which has never been reached beforehand. Hence, the corresponding desired image is not available. Furthermore, since we deal with unknown scenes, standard pose reconstruction algorithms cannot be applied. To efficiently solve this problem, we represent the scene as a collection of planes. A robust detector is employed to explicitly identify planes, since they may leave the image during extended navigation tasks. These planes are then exploited by an efficient direct method for pose recovery, leading to fast and accurate estimates. The framework is validated with synthetic and real imagery.