Estimation of the image Jacobian using two weakly calibrated cameras

Pablo Lizardo Pari Pinto, J. M. Sebastian, C. Gonzalez, L. Angel

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

This paper describes several innovative algorithms for the on-line estimation of the image Jacobian based on both the incorporation of the epipolar geometry properties, i. e. the fundamental matrix, and the definition of a reliability factor. Reliability factor depends on both displacements in image feature space and movements in joints space. These new algorithms have been applied successfully in positioning and tracking tasks of a uncalibrated joint system of three d.o.f. with two fixed weakly calibrated cameras. Several tests performed show that the algorithm based on the fundamental matrix is even more robust in the presence of noise than those base on recursive methods.

Idioma originalInglés
Título de la publicación alojada2007 European Control Conference, ECC 2007
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas2112-2118
Número de páginas7
ISBN (versión digital)9783952417386
DOI
EstadoPublicada - 2007
Publicado de forma externa
Evento2007 9th European Control Conference, ECC 2007 - Kos, Grecia
Duración: 2 jul. 20075 jul. 2007

Serie de la publicación

Nombre2007 European Control Conference, ECC 2007

Conferencia

Conferencia2007 9th European Control Conference, ECC 2007
País/TerritorioGrecia
CiudadKos
Período2/07/075/07/07

Nota bibliográfica

Publisher Copyright:
© 2007 EUCA.

Huella

Profundice en los temas de investigación de 'Estimation of the image Jacobian using two weakly calibrated cameras'. En conjunto forman una huella única.

Citar esto