Globally-Stable and Robust Image-Based Visual Servoing for Positioning With Respect to a Cylinder

This letter proposes a new image-based visual servoing controller for positioning a camera with respect to a cylindrical object. Traditional image-based approaches often rely on estimating planar parameters from the cylinder's projected edges, making them sensitive to noise and modeling errors. In this work, we introduce a novel controller that uses pure image features while directly tied to the cylinder's 3D pose, which depends solely on the cylinder radius. Crucially, this controller offers formal global stability irrespective of the radius estimate. Simulations and real experiments with a robotic arm confirm the controller improved convergence and robustness under practical conditions.