Unified point and image moment features for image based predictive visual servoing systems

In this paper a unified visual features extraction structure was introduced for point and image moment features. Starting from the unified point and image moment features, a predictive controller for image-based visual servoing systems was developed and it includes unified image prediction and reference trajectory schemes together with an optimizer block. The control performance of the predictive architecture was evaluated through simulation results via a simulator created for visual servoing of robot manipulators.