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Direct visual servoing in the non-linear scale space of camera pose

This paper proposes to consider direct visual servoing (DVS) for object manipulation by a robot arm. The convergence domain limits of DVS are overcome by introducing the non-linear scale space related to camera pose. Its use in a new, yet little complex, direct cost can enlarge twice the convergence domain of one state-of-the-art DVS, as many experiments of symmetric object orientation control assess.