@inproceedings{c4c801ed93414e388ccdce615572b528,
title = "Image based visual servoing: Estimated image Jacobian by using fundamental matrix VS analytic Jacobian",
abstract = "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.",
keywords = "Fundamental matrix, Interaction matrix, Jacobian estimation, Positioning, Robot Jacobian, Tracking, Visual servoing",
author = "L. Pari and Sebasti{\'a}n, \{J. M.\} and A. Traslosheros and L. Angel",
year = "2008",
doi = "10.1007/978-3-540-69812-8\_70",
language = "Ingl{\'e}s",
isbn = "3540698116",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
pages = "706--717",
booktitle = "Image Analysis and Recognition - 5th International Conference, ICIAR 2008, Proceedings",
note = "5th International Conference on Image Analysis and Recognition, ICIAR 2008 ; Conference date: 25-06-2008 Through 27-06-2008",
}