What can prediction bring to Image-Based Visual Servoing ?

The purpose of this paper is to show what image prediction can bring to image-based visual servoing. The visual feature prediction is obtained thanks to the interaction matrix. Based on a model predictive control strategy, the visual servoing task is formulated into an optimization problem. The error between the reference features and the predicted features is to be minimized over a receding prediction horizon. Numerous simulations highlight the interest of prediction, especially for difficult configurations such as large motion and rotation.