Uncalibrated visual servoing using the fundamental matrix

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

doi:10.1016/j.robot.2008.04.002

Uncalibrated visual servoing using the fundamental matrix

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

Research output: Contribution to scientific journal › Article in an indexed scientific journal › peer-review

35 Scopus citations

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

Original language	English
Pages (from-to)	1-10
Number of pages	10
Journal	Robotics and Autonomous Systems
Volume	57
Issue number	1
DOIs	https://doi.org/10.1016/j.robot.2008.04.002
State	Published - 31 Jan 2009

Bibliographical note

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.

Keywords

Fundamental matrix
Jacobian estimation
Visual servoing

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10.1016/j.robot.2008.04.002

Cite this

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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 L. Pari 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. ",

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AU - Sebastián, J. M.

AU - Pari, L.

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

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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 - https://www.scopus.com/pages/publications/56349109445

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DO - 10.1016/j.robot.2008.04.002

M3 - Artículo en revista científica indexada

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SN - 0921-8890

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SP - 1

EP - 10

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

IS - 1

ER -

Uncalibrated visual servoing using the fundamental matrix

Abstract

Bibliographical note

Keywords

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