3D Motion and Shape Representations in Visual Servo Control

The study of visual navigation problems requires the integration of visual processes with motor control processes. Most essential in approaching this integration is the study of appropriate spatio-temporal representations which the system computes from the imagery and which serve as interfaces to all cognitive and motor activities. Since representations resulting from exact quantitative reconstruction have turned out to be very hard to obtain, we argue here for the necessity of of representations which can be computed easily, reliably and in real time and which recover only the information about the 3D world which is really needed in order to solve the navigational problems at hand. In this paper we introduce a number of such representations capturing aspects of 3D motion and scene structure which are used for the solution of navigational problems implemented in visual servo systems.