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

Producción científica: Contribución a una revista › Artículo en revista científica indexada › revisión exhaustiva

35 Citas (Scopus)

Resumen

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

Idioma original	Inglés
Páginas (desde-hasta)	1-10
Número de páginas	10
Publicación	Robotics and Autonomous Systems
Volumen	57
N.º	1
DOI	https://doi.org/10.1016/j.robot.2008.04.002
Estado	Publicada - 31 ene. 2009

Acceder al documento

10.1016/j.robot.2008.04.002

Citar esto

@article{8d43ca573a9f4bd59f8911b6f80ec591,

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. ",

year = "2009",

month = jan,

day = "31",

doi = "10.1016/j.robot.2008.04.002",

language = "Ingl{\'e}s",

volume = "57",

pages = "1--10",

journal = "Robotics and Autonomous Systems",

issn = "0921-8890",

publisher = "Elsevier B.V.",

number = "1",

}

TY - JOUR

T1 - Uncalibrated visual servoing using the fundamental matrix

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

Y1 - 2009/1/31

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 - http://www.scopus.com/inward/record.url?scp=56349109445&partnerID=8YFLogxK

U2 - 10.1016/j.robot.2008.04.002

DO - 10.1016/j.robot.2008.04.002

M3 - Artículo en revista científica indexada

AN - SCOPUS:56349109445

SN - 0921-8890

VL - 57

SP - 1

EP - 10

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

IS - 1

ER -

Uncalibrated visual servoing using the fundamental matrix

Resumen

Acceder al documento

Huella

Citar esto