Image based visual servoing: A new method for the estimation of the image jacobian in dynamic environments

Pablo Lizardo Pari Pinto, J. M. Sebastián, C. González, L. Angel

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

5 Scopus citations

Abstract

This paper describes a innovative algorithm for the on-line estimation of the image jacobian based on previous movements. It has been utilized for the tracking of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The algorithm incorporates the epipolar restriction of the two cameras conveyed in the fundamental matrix, and a reliability factor has been defined for the previous movements. The tests carried out show that the proposed algorithm is more robust in presence of noise than those obtained from already existing algorithms in specialized literature.

Original languageEnglish
Title of host publicationImage Analysis and Recognition - Third International Conference, ICIAR 2006, Proceedings
PublisherSpringer Verlag
Pages850-861
Number of pages12
ISBN (Print)3540448918, 9783540448914
DOIs
StatePublished - 2006
Externally publishedYes
Event3rd International Conference on Image Analysis and Recognition, ICIAR 2006 - Povoa de Varzim, Portugal
Duration: 18 Sep 200620 Sep 2006

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4141 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference3rd International Conference on Image Analysis and Recognition, ICIAR 2006
Country/TerritoryPortugal
CityPovoa de Varzim
Period18/09/0620/09/06

Keywords

  • Fundamental matrix
  • Jacobian estimation
  • Visual servoing

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