Estimation of the image Jacobian using two weakly calibrated cameras

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

doi:10.23919/ecc.2007.7068870

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 proceeding › Conference contribution › peer-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 language	English
Title of host publication	2007 European Control Conference, ECC 2007
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2112-2118
Number of pages	7
ISBN (Electronic)	9783952417386
DOIs	https://doi.org/10.23919/ecc.2007.7068870
State	Published - 2007
Externally published	Yes
Event	2007 9th European Control Conference, ECC 2007 - Kos, Greece Duration: 2 Jul 2007 → 5 Jul 2007

Publication series

Name	2007 European Control Conference, ECC 2007

Conference

Conference	2007 9th European Control Conference, ECC 2007
Country/Territory	Greece
City	Kos
Period	2/07/07 → 5/07/07

Bibliographical note

Publisher Copyright:
© 2007 EUCA.

Access to Document

10.23919/ecc.2007.7068870

Cite this

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title = "Estimation of the image Jacobian using two weakly calibrated cameras",

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.",

author = "{Pari Pinto}, {Pablo Lizardo} and Sebastian, {J. M.} and C. Gonzalez and L. Angel",

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year = "2007",

doi = "10.23919/ecc.2007.7068870",

language = "Ingl{\'e}s",

series = "2007 European Control Conference, ECC 2007",

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Pari Pinto, PL, Sebastian, JM, Gonzalez, C & Angel, L 2007, Estimation of the image Jacobian using two weakly calibrated cameras. in 2007 European Control Conference, ECC 2007., 7068870, 2007 European Control Conference, ECC 2007, Institute of Electrical and Electronics Engineers Inc., pp. 2112-2118, 2007 9th European Control Conference, ECC 2007, Kos, Greece, 2/07/07. https://doi.org/10.23919/ecc.2007.7068870

Estimation of the image Jacobian using two weakly calibrated cameras. / Pari Pinto, Pablo Lizardo; Sebastian, J. M.; Gonzalez, C. et al.

2007 European Control Conference, ECC 2007. Institute of Electrical and Electronics Engineers Inc., 2007. p. 2112-2118 7068870 (2007 European Control Conference, ECC 2007).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PB - Institute of Electrical and Electronics Engineers Inc.

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Estimation of the image Jacobian using two weakly calibrated cameras

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