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

Producción científica: Contribución a una revista › Ponencia publicada en las memorias del evento con ISSN › revisión exhaustiva

12 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Páginas (desde-hasta)	631-638
Número de páginas	8
Publicación	Lecture Notes in Computer Science
Volumen	3522
N.º	I
DOI	https://doi.org/10.1007/11492429_76
Estado	Publicada - 2005
Evento	Second Iberian Conference on Pattern Recognition and Image Analysis, IbPRIA 2005 - Estoril, Portugal Duración: 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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A new method for the estimation of the image jacobian for the control of an uncalibrated joint system. / Sebastián, Jose M.; Pari, Lizardo; González, Carolina et al.
En: Lecture Notes in Computer Science, Vol. 3522, N.º I, 2005, p. 631-638.

Producción científica: Contribución a una revista › Ponencia publicada en las memorias del evento con ISSN › revisión exhaustiva

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T1 - A new method for the estimation of the image jacobian for the control of an uncalibrated joint system

AU - Sebastián, Jose M.

AU - Pari, Lizardo

AU - González, Carolina

AU - Ángel, Luis

PY - 2005

Y1 - 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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