A Variational Approach to Trajectory Planning in Visual Servoing - Visual Servoing via Advanced Numerical Methods - page 122

0

0.2

0.4

0.6

0.8

1

1.2

0

0.4

0.2

0

−0.2

−0.4

−0.6

Fig. 7.2 Camera trajectories without visibility constraint

0

0.2

0.4

0.6

0.8

1

1.2

0.4

0

0.2

0

−0.2

−0.4

−0.6

Fig. 7.3 Camera trajectories with visibility constraint