A novel Position-Based Visual Servoing approach for robust global stability with feature points kept within the Field-of-View

In this paper, we shed new light on PBVS (Position-Based Visual Servoing) by introducing the concept of a 3D (Dimension) visible set for PBVS, which can serve to play exactly the role of the 2D visible set, image plane, for IBVS. Our 3D visible set is convex even in the presence of uncertainties in intrinsic and extrinsic parameters of the camera, just as the image plane is a convex set. Then, we can ensure the FOV (Field of View) constraint simply by controlling the camera pose to follow a smooth straight-line trajectory in our 3D visible set for PBVS, which connects two points determined by the initial and desired poses of the camera. To demonstrate further the validity and practicality of our VS scheme, we also present various experimental results using a 6 degree-of-freedom robotic manipulator.