Robust image-based visual servoing using invariant visual information

• Image-based visual servoing from spherical projection.
• Decoupled control using invariant features.
• A near-linear behavior is obtained thanks to the proposed features.
• The sensitivity to image noise is taken into account.

This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal.