Proposal of 6 DOF visual servoing of moving object based on real-time distance identification

In visual servoing, it is difficult to track the moving object without the information of distance between the object and the camera. Thus, in order to catch the moving object by feedforward control, this paper proposes two types of real-time distance identification in 6 degree-of-freedom (DOF) visual servoing. In one method, the distance can be estimated by using the square measure of the object in image plane. The object must not be moving at first in this method. In the other method, the distance can be estimated even if the object has initial velocity. We verified two methods of identification by simulations and experiments.