A new method for the estimation of the image jacobian for the control of an uncalibrated joint system

Jose M. Sebastián; Lizardo Pari; Carolina González; Luis Ángel

doi:10.1007/11492429_76

A new method for the estimation of the image jacobian for the control of an uncalibrated joint system

Jose M. Sebastián
, Lizardo Pari
, Carolina González
, Luis Ángel

Research output: Contribution to scientific journal › Conference and proceedings › peer-review

13 Scopus citations

Abstract

This paper describes various innovative algorithms for the on-line estimation of the image jacobian, a matrix which linearly relates joint velocity and image feature velocity. We have applied them successfully to the static visual control of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The proposed algorithms prove to be particularly robust when image features are calculated with an average level of noise, and our results are clearly better than those obtained for already existing algorithms in specialized literature.

Original language	English
Pages (from-to)	631-638
Number of pages	8
Journal	Lecture Notes in Computer Science
Volume	3522
Issue number	I
DOIs	https://doi.org/10.1007/11492429_76
State	Published - 2005
Event	Second Iberian Conference on Pattern Recognition and Image Analysis, IbPRIA 2005 - Estoril, Portugal Duration: 7 Jun 2005 → 9 Jun 2005

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title = "A new method for the estimation of the image jacobian for the control of an uncalibrated joint system",

abstract = "This paper describes various innovative algorithms for the on-line estimation of the image jacobian, a matrix which linearly relates joint velocity and image feature velocity. We have applied them successfully to the static visual control of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The proposed algorithms prove to be particularly robust when image features are calculated with an average level of noise, and our results are clearly better than those obtained for already existing algorithms in specialized literature.",

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AU - Pari, Lizardo

AU - González, Carolina

AU - Ángel, Luis

PY - 2005

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AB - This paper describes various innovative algorithms for the on-line estimation of the image jacobian, a matrix which linearly relates joint velocity and image feature velocity. We have applied them successfully to the static visual control of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The proposed algorithms prove to be particularly robust when image features are calculated with an average level of noise, and our results are clearly better than those obtained for already existing algorithms in specialized literature.

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M3 - Ponencia publicada en las memorias del evento con ISSN

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Y2 - 7 June 2005 through 9 June 2005

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A new method for the estimation of the image jacobian for the control of an uncalibrated joint system

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