Estimation of the image Jacobian using two weakly calibrated cameras

L. Pari, J. M. Sebastian, C. Gonzalez, L. Angel

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

    Abstract

    This paper describes several innovative algorithms for the on-line estimation of the image Jacobian based on both the incorporation of the epipolar geometry properties, i. e. the fundamental matrix, and the definition of a reliability factor. Reliability factor depends on both displacements in image feature space and movements in joints space. These new algorithms have been applied successfully in positioning and tracking tasks of a uncalibrated joint system of three d.o.f. with two fixed weakly calibrated cameras. Several tests performed show that the algorithm based on the fundamental matrix is even more robust in the presence of noise than those base on recursive methods.

    Original languageEnglish
    Title of host publication2007 European Control Conference, ECC 2007
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages2112-2118
    Number of pages7
    ISBN (Electronic)9783952417386
    DOIs
    StatePublished - 2007
    Event2007 9th European Control Conference, ECC 2007 - Kos, Greece
    Duration: 2 Jul 20075 Jul 2007

    Publication series

    Name2007 European Control Conference, ECC 2007

    Conference

    Conference2007 9th European Control Conference, ECC 2007
    Country/TerritoryGreece
    CityKos
    Period2/07/075/07/07

    Bibliographical note

    Publisher Copyright:
    © 2007 EUCA.

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