Vision-based control with respect to planar and non-planar objects using a zooming camera

This paper concerns, the visual servoing with a zooming camera. It presents a new visual servoing approach which allows to position a camera, equipped with a motorized zoom lens, with respect to an object independently if the object is planar or not. Indeed, planar objects are singular cases which cannot be handled by previous intrinsics-free visual servoing. The proposed method makes it possible to bring back a camera to its reference position while zooming. The focal length is initially controlled in order to keep the object in the field of view of the camera during the servoing. Then, the control of the focal length allows to solve the singularity for planar objects.