Image based visual servoing: Estimated image Jacobian by using fundamental matrix VS analytic Jacobian

Pablo Lizardo Pari Pinto, J. M. Sebastián, A. Traslosheros, L. Angel

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

10 Scopus citations

Abstract

This paper describes a comparative study of performance between the estimated image Jacobian that come from taking into account the geometry epipolar of a system of two cameras, and the well known analytic image Jacobian that is utilized for most applications in visual servoing. Image Based Visual Servoing architecture is used for controlling a 3 d.o.f. articular system using two cameras in eye to hand configuration. Tests in static and dynamic cases were carried out, and showed that the performance of estimated Jacobian by using the properties of the epipolar geometry is such as good and robust against noise as the analytic Jacobian. This fact is considered as an advantage because the estimated Jacobian does not need laborious previous work prior the control task in contrast to the analytic Jacobian does.

Original languageEnglish
Title of host publicationImage Analysis and Recognition - 5th International Conference, ICIAR 2008, Proceedings
Pages706-717
Number of pages12
DOIs
StatePublished - 2008
Externally publishedYes
Event5th International Conference on Image Analysis and Recognition, ICIAR 2008 - Povoa de Varzim, Portugal
Duration: 25 Jun 200827 Jun 2008

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5112 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference5th International Conference on Image Analysis and Recognition, ICIAR 2008
Country/TerritoryPortugal
CityPovoa de Varzim
Period25/06/0827/06/08

Keywords

  • Fundamental matrix
  • Interaction matrix
  • Jacobian estimation
  • Positioning
  • Robot Jacobian
  • Tracking
  • Visual servoing

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