Image base visual servoing: Estimation of the image jacobian by using lines in a stereo vision system

Pablo Lizardo Pari Pinto, J. M. Sebastián, L. Ángel, J. D. Rueda

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

1 Scopus citations

Abstract

This paper describes an Image Based Visual Servoing scheme for controlling a 3 DOF robot, using a system with two cameras in eye to hand configuration. Two methods of estimating image Jacobian on line by using lines as image features are proposed. The first one takes into account both the advantages of Plficker representation and properties of the stereo vision system to obtain depth sensitivity of the observed 3D lines. The second one considers direct measurements of line features in the image of an uncalibrated system. A proportional control law based on the pseudoinverse of the image Jacobian is utilized to control the task. Experimental tests have been carried out to validate the proposed methods, and extended to the analytic image Jacobian from the literature.

Original languageEnglish
Title of host publicationProceedings - ICELIE 2009, 3rd IEEE International Conference on e-Learning in Industrial Electronics
Pages109-114
Number of pages6
DOIs
StatePublished - 2009
Externally publishedYes
Event3rd IEEE International Conference on e-Learning in Industrial Electronics, ICELIE 2009 - Porto, Portugal
Duration: 3 Nov 20095 Nov 2009

Publication series

NameProceedings - ICELIE 2009, 3rd IEEE International Conference on e-Learning in Industrial Electronics

Conference

Conference3rd IEEE International Conference on e-Learning in Industrial Electronics, ICELIE 2009
Country/TerritoryPortugal
CityPorto
Period3/11/095/11/09

Fingerprint

Dive into the research topics of 'Image base visual servoing: Estimation of the image jacobian by using lines in a stereo vision system'. Together they form a unique fingerprint.

Cite this