A new method for the estimation of the image jacobian for the control of an uncalibrated joint system

Jose M. Sebastián, Pablo Lizardo Pari Pinto, Carolina González, Luis Ángel

Resultado de la investigación: Contribución a una revistaArtículo de la conferenciarevisión exhaustiva

9 Citas (Scopus)

Resumen

This paper describes various innovative algorithms for the on-line estimation of the image jacobian, a matrix which linearly relates joint velocity and image feature velocity. We have applied them successfully to the static visual control of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The proposed algorithms prove to be particularly robust when image features are calculated with an average level of noise, and our results are clearly better than those obtained for already existing algorithms in specialized literature.

Idioma originalInglés
Páginas (desde-hasta)631-638
Número de páginas8
PublicaciónLecture Notes in Computer Science
Volumen3522
N.ºI
DOI
EstadoPublicada - 2005
Publicado de forma externa
EventoSecond Iberian Conference on Pattern Recognition and Image Analysis, IbPRIA 2005 - Estoril, Portugal
Duración: 7 jun. 20059 jun. 2005

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