Visual servoing tasks to improve estimation of a PE-condition-based depth observer

This paper addresses a depth estimation problem for a dynamic perspective system with a single camera. A depth observer based on Persistency-of-Excitation (PE) condition has been proposed. The depth observer is easy to implement and robust to noisy measurements, but has some difficulties on initializing and gain tuning. For the difficulties, we propose two periodic visual servoing tasks so as to recover PE condition. The effectiveness of the proposed tasks is validated by simulation.