Adaptive range identification for exponential visual servo tracking

A projective homography is developed by relating feature points extracted from images taken at the reference and current camera position/orientation. By decomposing the homography into translation and rotation components, geometric relationships are determined that facilitate the construction of an adaptive strategy to identify unknown depth information. The development of the parameter identification strategy provides a mechanism to develop a position-based and a hybrid position/image-based visual servo controller for a trajectory tracking control problem. By using information obtained from the parameter identification strategy, both visual servoing controllers are proven to yield exponential tracking.