Visual servoing invariant to changes in camera intrinsic parameters

This paper presents a new visual servoing scheme which is invariant to changes in camera intrinsic parameters. Current visual servoing techniques are based on the learning of a reference image with the same camera used during the servoing. The scheme proposed in the paper differs from previous techniques in that it is camera independent. With the new scheme it is possible to position a camera (with eventually varying intrinsic parameters), with respect to a non-planar object, given a "reference image" taken with a completely different camera.