Image Based Visual Servoing: Estimated Image Jacobian by Using Fundamental Matrix VS Analytic Jacobian

Pari Pinto, Pablo Lizardo; Sebastian y Zuñiga, Jose Maria; Traslosheros Michel, Alberto y Ángel Silva, Luis (2009). Image Based Visual Servoing: Estimated Image Jacobian by Using Fundamental Matrix VS Analytic Jacobian. En: "5th Internacional Conference on Image Analysis and Recognition (ICIAR 2008)", 25/06/2008-27/06/2008, Povoa de Varzim, Portugal. ISBN 978-3-540-69811-1.

Descripción

Título: Image Based Visual Servoing: Estimated Image Jacobian by Using Fundamental Matrix VS Analytic Jacobian
Autor/es:
  • Pari Pinto, Pablo Lizardo
  • Sebastian y Zuñiga, Jose Maria
  • Traslosheros Michel, Alberto
  • Ángel Silva, Luis
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 5th Internacional Conference on Image Analysis and Recognition (ICIAR 2008)
Fechas del Evento: 25/06/2008-27/06/2008
Lugar del Evento: Povoa de Varzim, Portugal
Título del Libro: Proceedings of 5th Internacional Conference on Image Analysis and Recognition (ICIAR 2008)
Fecha: 2009
ISBN: 978-3-540-69811-1
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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.

Más información

ID de Registro: 3656
Identificador DC: http://oa.upm.es/3656/
Identificador OAI: oai:oa.upm.es:3656
URL Oficial: http://www.springerlink.com/content/358jj528674w21n6/
Depositado por: Memoria Investigacion
Depositado el: 05 Abr 2011 08:23
Ultima Modificación: 20 Abr 2016 13:10
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