TY - GEN
T1 - A comparative study between analytic and estimated image Jacobian by using a stereoscopic system of cameras
AU - Pari, L.
AU - Sebastián, J. M.
AU - Traslosheros, A.
AU - Angel, L.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78651516472&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5650363
DO - 10.1109/IROS.2010.5650363
M3 - Ponencia publicada en las memorias del evento con ISBN
AN - SCOPUS:78651516472
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 6208
EP - 6215
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -