Estimation of the image Jacobian using two weakly calibrated cameras

Pablo Lizardo Pari Pinto, J. M. Sebastian, C. Gonzalez, L. Angel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper describes several innovative algorithms for the on-line estimation of the image Jacobian based on both the incorporation of the epipolar geometry properties, i. e. the fundamental matrix, and the definition of a reliability factor. Reliability factor depends on both displacements in image feature space and movements in joints space. These new algorithms have been applied successfully in positioning and tracking tasks of a uncalibrated joint system of three d.o.f. with two fixed weakly calibrated cameras. Several tests performed show that the algorithm based on the fundamental matrix is even more robust in the presence of noise than those base on recursive methods.

Original languageEnglish
Title of host publication2007 European Control Conference, ECC 2007
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2112-2118
Number of pages7
ISBN (Electronic)9783952417386
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 9th European Control Conference, ECC 2007 - Kos, Greece
Duration: 2 Jul 20075 Jul 2007

Publication series

Name2007 European Control Conference, ECC 2007

Conference

Conference2007 9th European Control Conference, ECC 2007
Country/TerritoryGreece
CityKos
Period2/07/075/07/07

Bibliographical note

Publisher Copyright:
© 2007 EUCA.

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