Uncalibrated visual servoing using the fundamental matrix

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

doi:10.1016/j.robot.2008.04.002

Uncalibrated visual servoing using the fundamental matrix

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

Resultado de la investigación: Contribución a una revista › Artículo › revisión exhaustiva

31 Citas (Scopus)

Resumen

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

Idioma original	Inglés
Páginas (desde-hasta)	1-10
Número de páginas	10
Publicación	Robotics and Autonomous Systems
Volumen	57
N.º	1
DOI	https://doi.org/10.1016/j.robot.2008.04.002
Estado	Publicada - 31 ene. 2009
Publicado de forma externa	Sí

Nota bibliográfica

Funding 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.

Acceder al documento

10.1016/j.robot.2008.04.002

Otros archivos y enlaces

Enlace a la publicación en Scopus

Citar esto

@article{93f5388312114ee79f2e42d868d23b92,

title = "Uncalibrated visual servoing using the fundamental matrix",

abstract = "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",

keywords = "Fundamental matrix, Jacobian estimation, Visual servoing",

author = "Sebasti{\'a}n, {J. M.} and {Pari Pinto}, {Pablo Lizardo} and L. Angel and A. Traslosheros",

note = "Funding Information: This work was supported by the Comisi{\'o}n Interministerial de Ciencia y Tecnolog{\'i}a of the Spanish Government under Projects DPI2001-3827-C02-01 and DPI2004-07433-C02-02. ",

year = "2009",

month = jan,

day = "31",

doi = "10.1016/j.robot.2008.04.002",

language = "Ingl{\'e}s",

volume = "57",

pages = "1--10",

journal = "Robotics and Autonomous Systems",

issn = "0921-8890",

publisher = "Elsevier",

number = "1",

}

TY - JOUR

T1 - Uncalibrated visual servoing using the fundamental matrix

AU - Sebastián, J. M.

AU - Pari Pinto, Pablo Lizardo

AU - Angel, L.

AU - Traslosheros, A.

N1 - Funding 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.

PY - 2009/1/31

Y1 - 2009/1/31

N2 - 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

AB - 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

KW - Fundamental matrix

KW - Jacobian estimation

KW - Visual servoing

UR - http://www.scopus.com/inward/record.url?scp=56349109445&partnerID=8YFLogxK

U2 - 10.1016/j.robot.2008.04.002

DO - 10.1016/j.robot.2008.04.002

M3 - Artículo

AN - SCOPUS:56349109445

VL - 57

SP - 1

EP - 10

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

SN - 0921-8890

IS - 1

ER -

Uncalibrated visual servoing using the fundamental matrix

Resumen

Nota bibliográfica

Acceder al documento

Otros archivos y enlaces

Huella

Citar esto