Image based visual servoing: A new method for the estimation of the image jacobian in dynamic environments

Pablo Lizardo Pari Pinto, J. M. Sebastián, C. González, L. Angel

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

5 Citas (Scopus)

Resumen

This paper describes a innovative algorithm for the on-line estimation of the image jacobian based on previous movements. It has been utilized for the tracking of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The algorithm incorporates the epipolar restriction of the two cameras conveyed in the fundamental matrix, and a reliability factor has been defined for the previous movements. The tests carried out show that the proposed algorithm is more robust in presence of noise than those obtained from already existing algorithms in specialized literature.

Idioma originalInglés
Título de la publicación alojadaImage Analysis and Recognition - Third International Conference, ICIAR 2006, Proceedings
EditorialSpringer Verlag
Páginas850-861
Número de páginas12
ISBN (versión impresa)3540448918, 9783540448914
DOI
EstadoPublicada - 2006
Publicado de forma externa
Evento3rd International Conference on Image Analysis and Recognition, ICIAR 2006 - Povoa de Varzim, Portugal
Duración: 18 set. 200620 set. 2006

Serie de la publicación

NombreLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volumen4141 LNCS
ISSN (versión impresa)0302-9743
ISSN (versión digital)1611-3349

Conferencia

Conferencia3rd International Conference on Image Analysis and Recognition, ICIAR 2006
País/TerritorioPortugal
CiudadPovoa de Varzim
Período18/09/0620/09/06

Huella

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