Abstract
In this paper, asymptotic stability of uncalibrated eye-in-hand visual servoing is proved in an affine invariance perspective. After a brief retrospection on the uncalibrated eye-in-hand visual servoing, the affine invariance framework is introduced with discussion in depth. Then the visual servoing algorithm is reconstructed in an affine invariance framework, or more precisely as an affine contravariance algorithm, with its complete asymptotic stability proved, proposed as a convergence theorem. The affine invariance perspective enroots the series algorithm on a more solid and fruitful mathematical background and finally, the paper would discuss several potential research realms of the topic of visual servoing.
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