The video demonstrates the effectiveness and robustness of the proposed large view visual servoing scheme. It shows an experimental evaluation using a real 5DOF Katana robot arm with an eye-in-hand configuration. The manipulator navigates along the inside of a semi cylinder which is textured with a panoramic photo of our campus.The task space consisting of the manipulator as well as the semi cylinder is depicted from an external observer in the upper left part of the video. In the upper right part the image space including the current (green cross) and the desired feature position (red circle) are shown. Note that during the navigation it is not required to converge exactly to the reference views. The feature error only converges to zero at the goal view. The topological naviagtion is shown in the bottom part of the video. 




 