I'm new to the whole visual servoing area.
I'm now reading the tutorial Visual Servo Control Part I: Basic Approaches" and I don't understand something fundamental - what information is available to the robot?
- Is the 3D location of the tracked features in the current frame known?
- Is it known for the desired frame?
- Is it known for both?
If it's known for both - then what would be the best thing to do? Would it be to compute the current and desired 3D location and orientation of the robot, and plan an optimal path accordingly, essentially knowing everything in advance?
Also, in what sense could a control law (i.e translation + rotation path) be optimal for a visual servo?