“…Convolutional neural networks (CNN) have shown superior performance with state-of-the-art method in some areas, such as object identification [22], [23], camera relocalization [24], [25], and pose estimation of objects [26], [27], etc.. Recently, CNN has been applied to visual servoing scheme [28], [29], [30] in order to overcome the limitation of visual servoing, such as the requirement of hand-crafted image features, and the sensitivity to lighting conditions and occlusions.…”