This paper describes a stereo image-based visual servoing system for trajectory tracking by a non-holonomic robot without externally derived pose information nor a known visual map of the environment. It is called trajectory servoing. The critical component is a feature-based, indirect Simultaneous Localization And Mapping (SLAM) method to provide a pool of available features with estimated depth, so that they may be propagated forward in time to generate image feature trajectories for visual servoing. Short and long distance experiments show the benefits of trajectory servoing for navigating unknown areas without absolute positioning. Empirically, trajectory servoing has better trajectory tracking performance than pose-based feedback when both rely on the same underlying SLAM system.

翻译：本文描述一个立体图像图像扫描系统,用于由没有外部来源的无光学机器人进行轨迹跟踪,而没有外部来源的信息或已知的环境直观地图,称为轨迹预览,其关键组成部分是基于地貌的间接同步本地化和绘图(SLAM)方法,以提供具有估计深度的现有特征库,从而可以及时向前传播,为视觉预览生成图像特征轨迹。短距离和长距离实验显示,轨迹预览对在没有绝对定位的未知区域航行的好处。