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
Bibliographical noteFunding 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.
- Fundamental matrix
- Jacobian estimation
- Visual servoing