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

Pari Pinto, Pablo Lizardo and Sebastian y Zuñiga, Jose Maria and Traslosheros Michel, Alberto and Ángel Silva, Luis (2009). Image Based Visual Servoing: Estimated Image Jacobian by Using Fundamental Matrix VS Analytic Jacobian. In: "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.

Description

Title: Image Based Visual Servoing: Estimated Image Jacobian by Using Fundamental Matrix VS Analytic Jacobian
Author/s:
  • Pari Pinto, Pablo Lizardo
  • Sebastian y Zuñiga, Jose Maria
  • Traslosheros Michel, Alberto
  • Ángel Silva, Luis
Item Type: Presentation at Congress or Conference (Article)
Event Title: 5th Internacional Conference on Image Analysis and Recognition (ICIAR 2008)
Event Dates: 25/06/2008-27/06/2008
Event Location: Povoa de Varzim, Portugal
Title of Book: Proceedings of 5th Internacional Conference on Image Analysis and Recognition (ICIAR 2008)
Date: 2009
ISBN: 978-3-540-69811-1
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 3656
DC Identifier: http://oa.upm.es/3656/
OAI Identifier: oai:oa.upm.es:3656
Official URL: http://www.springerlink.com/content/358jj528674w21n6/
Deposited by: Memoria Investigacion
Deposited on: 05 Apr 2011 08:23
Last Modified: 20 Apr 2016 13:10
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