Model-free optimal trajectories in the image space

Since image-based servoing is a local control solution, it requires the definition of intermediate subgoals in the sensor space. This paper addresses the problem of generating realistic and optimal smooth trajectories of complex features in the image space. The model of the observed target and the internal camera parameters are assumed to be unknown. First, a closed-form smooth collineation path between given starts and endpoints is obtained. This path is generated in order to correspond to an optimal camera path. The trajectories of the image features are then derived