Algorithm 1 Pseudocode of the VVS algorithm.

Initialize(); // get camera’s model parameters K and initial pose T

$\mathrm{Get} \mathrm{the} \mathrm{desired} \mathrm{features} s^{*}$;

While (true) {

Transform the model from object frame to camera frame by T;

Project the model to image plane by K;

Extract the feature s;

$\epsilon =s-s^{*}$; // get the error between the current and desired feature

$\mathrm{if} (norm(\epsilon )<threshold$) {

break;

}

else {

Calculate the interaction matrix L;

$v=-\lambda L^{+}\epsilon$; // get the virtual velocity

$T={}^{c_{(k+1)}}T_o=\exp {(v^{^})}^{-1}\cdot {}^{c_k}{T}_o$; // update T

}

}

$T^{*}=T$;