Unicycle-like Robots with Eye-in-Hand Monocular Cameras: From PBVS towards IBVS - Visual Servoing via Advanced Numerical Methods - page 343

y 3
y 2

f d

f i

x b

x i x d x 1

Fig. 18.10 Constrained optimal path for Region III in the image plane

Fig. 18.11 One feature optimal path for Region VII in the image plane