Deep metric learning for visual servoing: when pose and image meet in latent space
Samuel Felton,Elisa Fromont,Eric Marchand,Samuel Felton,Elisa Fromont,Eric Marchand
We propose a new visual servoing method that controls a robot's motion in a latent space. We aim to extract the best properties of two previously proposed servoing methods: we seek to obtain the accuracy of photometric methods such as Direct Visual Servoing (DVS), as well as the behavior and convergence of pose-based visual servoing (PBVS). Photometric methods suffer from limited convergence area ...
