A new method for the estimation of the image jacobian for the control of an uncalibrated joint system

Jose M. Sebastián, Pablo Lizardo Pari Pinto, Carolina González, Luis Ángel

Research output: Contribution to journalConference articlepeer-review

9 Scopus citations

Abstract

This paper describes various innovative algorithms for the on-line estimation of the image jacobian, a matrix which linearly relates joint velocity and image feature velocity. We have applied them successfully to the static visual control of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The proposed algorithms prove to be particularly robust when image features are calculated with an average level of noise, and our results are clearly better than those obtained for already existing algorithms in specialized literature.

Original languageEnglish
Pages (from-to)631-638
Number of pages8
JournalLecture Notes in Computer Science
Volume3522
Issue numberI
DOIs
StatePublished - 2005
Externally publishedYes
EventSecond Iberian Conference on Pattern Recognition and Image Analysis, IbPRIA 2005 - Estoril, Portugal
Duration: 7 Jun 20059 Jun 2005

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