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.
|Title of host publication||2007 European Control Conference, ECC 2007|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||7|
|State||Published - 2007|
|Event||2007 9th European Control Conference, ECC 2007 - Kos, Greece|
Duration: 2 Jul 2007 → 5 Jul 2007
|Name||2007 European Control Conference, ECC 2007|
|Conference||2007 9th European Control Conference, ECC 2007|
|Period||2/07/07 → 5/07/07|
Bibliographical notePublisher Copyright:
© 2007 EUCA.