Image based visual servoing: Estimated image Jacobian by using fundamental matrix VS analytic Jacobian

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

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

10 Citas (Scopus)

Resumen

This paper describes a comparative study of performance between the estimated image Jacobian that come from taking into account the geometry epipolar of a system of two cameras, and the well known analytic image Jacobian that is utilized for most applications in visual servoing. Image Based Visual Servoing architecture is used for controlling a 3 d.o.f. articular system using two cameras in eye to hand configuration. Tests in static and dynamic cases were carried out, and showed that the performance of estimated Jacobian by using the properties of the epipolar geometry is such as good and robust against noise as the analytic Jacobian. This fact is considered as an advantage because the estimated Jacobian does not need laborious previous work prior the control task in contrast to the analytic Jacobian does.

Idioma originalInglés
Título de la publicación alojadaImage Analysis and Recognition - 5th International Conference, ICIAR 2008, Proceedings
Páginas706-717
Número de páginas12
DOI
EstadoPublicada - 2008
Publicado de forma externa
Evento5th International Conference on Image Analysis and Recognition, ICIAR 2008 - Povoa de Varzim, Portugal
Duración: 25 jun. 200827 jun. 2008

Serie de la publicación

NombreLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volumen5112 LNCS
ISSN (versión impresa)0302-9743
ISSN (versión digital)1611-3349

Conferencia

Conferencia5th International Conference on Image Analysis and Recognition, ICIAR 2008
País/TerritorioPortugal
CiudadPovoa de Varzim
Período25/06/0827/06/08

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