Uncalibrated visual servoing using the fundamental matrix

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

Research output: Contribution to journalArticlepeer-review

31 Scopus citations

Abstract

This paper describes a new algorithm for visual control of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The algorithm estimates on-line the Image Jacobian, a matrix which linearly relates joint velocity and image feature velocity. In our experiments we prove that by using the fundamental matrix, robustness of the estimation in the presence of noise is significantly increased with respect to already existing algorithms in specialized literature. Crown

Original languageEnglish
Pages (from-to)1-10
Number of pages10
JournalRobotics and Autonomous Systems
Volume57
Issue number1
DOIs
StatePublished - 31 Jan 2009
Externally publishedYes

Bibliographical note

Funding Information:
This work was supported by the Comisión Interministerial de Ciencia y Tecnología of the Spanish Government under Projects DPI2001-3827-C02-01 and DPI2004-07433-C02-02.

Keywords

  • Fundamental matrix
  • Jacobian estimation
  • Visual servoing

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