A Dense and Direct Approach to Visual Servoing Using Depth Maps.

This paper presents a novel 3-D servoing approach using dense depth maps to perform robotic tasks. With respect to position-based approaches, our method does not require the estimation of the 3-D pose (direct), nor the extraction and matching of 3-D features (dense), and only requires dense depth maps provided by 3-D sensors. Our approach has been validated in various servoing experiments using th...