Keeping Objects in the Field of View: An Underdetermined Task Function Approach to Visual Servoing

This paper introduces a novel visual servo controller designed to keep multiple objects in the camera field-of-view. In contrast to other visual servo controllers, there is no goal pose or goal image. In this paper, a set of underdetermined task functions are developed to regulate the mean and variance of a set of image features. Regulating these task functions will keep feature points in the camera field-of-view. An additional task function is used to maintain a high level of motion perceptibility, which ensures that desired feature point velocities can be achieved. Simulations of several object tracking tasks have verified the performance of the proposed method.