Decoupled Image-Based Visual Servoing for Cameras Obeying the Unified Projection Model

This paper proposes a generic decoupled image-based control scheme for cameras obeying the unified projection model. The scheme is based on the spherical projection model. Invariants to rotational motion are computed from this projection and used to control the translational degrees of freedom (DOFs). Importantly, we form invariants that decrease the sensitivity of the interaction matrix to object-depth variation. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6-DOF robotic platform.