Gradient Projection Methods for Constrained Image-based Visual Servo - Visual Servoing via Advanced Numerical Methods - page 261

initial view final view

500 500

image feature
object

image feature
target

450 450

400 400

350 350

300 300

250 250

200 200

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100 100

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0 0

0 100 200 300 400 500 0 100 200 300 400 500

(a) (b)

Fig. 14.15 Initial and final view of the image feature and the object without considering field
of view constraints

distance

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270

265

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255

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0 5 10 15 20

Fig. 14.16 Distance between the object and the center of the image without using field of
view constraints

field of view of the camera at the end of the task. As shown on Figure 14.15(b), we
cannot see the object in the camera view during the servoing without using the field
of view constraint. The distance between the object and the center of the image is
shown in Figure 14.16 without taking into account the constraints.
To realize the objective of keeping the object of interest in the field of view during
the control, redundancy of the robot is applied to the servoing. The initial view of the
camera is the same as above, and the final view is shown on Figure 14.17. The object
of interest remains in the view of camera. The corresponding distance between the
object and center of the image after using field of view constraints are given in
Figure 14.18. When the object moves closed to the border of the camera view, the