A comparative study between analytic and estimated image Jacobian by using a stereoscopic system of cameras

L. Pari, J. M. Sebastián, A. Traslosheros, L. Angel

    Research output: Chapter in Book/Report/Conference proceedingConference and proceedingspeer-review

    11 Scopus citations

    Abstract

    This paper describes a comparative study of performance between the estimated image Jacobian that come from taking into account the epipolar geometry in 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 DOF 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 to control task in contrast to the analytic Jacobian does.

    Original languageEnglish
    Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
    Pages6208-6215
    Number of pages8
    DOIs
    StatePublished - 2010
    Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
    Duration: 18 Oct 201022 Oct 2010

    Publication series

    NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

    Conference

    Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
    Country/TerritoryTaiwan, Province of China
    CityTaipei
    Period18/10/1022/10/10

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