Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Trajectory Servoing: Image-Based Trajectory Tracking Using SLAM   This paper describes an image based visual servoing (IBVS) system for a
nonholonomic robot to achieve good trajectory following without real-time robot
pose information and without a known visual map of the environment. We call it
trajectory servoing. The critical component is a feature-based, indirect 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.
Trajectory servoing is shown to be more accurate than pose-based feedback when
both rely on the same underlying SLAM system.

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The categories of this paper are: comp-gas
20
The categories of this paper are: acc-phys
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The categories of this paper are: bayes-an
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The categories of this paper are: quant-ph
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The categories of this paper are: econ
21
The categories of this paper are: adap-org
31
The categories of this paper are: ao-sci
9
The categories of this paper are: nlin
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The categories of this paper are: patt-sol
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The categories of this paper are: nucl-ex
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The categories of this paper are: solv-int
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The categories of this paper are: mtrl-th
0
The categories of this paper are: hep-ph
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The categories of this paper are: hep-lat
37
The categories of this paper are: supr-con
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The categories of this paper are: alg-geom