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.