A Comparative Study between Analytic and Estimated Image Jacobian by Using a Stereoscopic System of Cameras

Pari Pinto, Pablo Lizardo and Sebastian y Zuñiga, Jose Maria and Traslosheros Michel, Alberto and Ángel Silva, Luis (2010). A Comparative Study between Analytic and Estimated Image Jacobian by Using a Stereoscopic System of Cameras. In: "IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2010", 18/10/2010 - 22/10/2010, Taipei, Taiwan, China. ISBN 978-1-4244-6674-0.

Description

Title: A Comparative Study between Analytic and Estimated Image Jacobian by Using a Stereoscopic System of Cameras
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: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2010
Event Dates: 18/10/2010 - 22/10/2010
Event Location: Taipei, Taiwan, China
Title of Book: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2010
Date: 2010
ISBN: 978-1-4244-6674-0
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 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.

More information

Item ID: 8031
DC Identifier: http://oa.upm.es/8031/
OAI Identifier: oai:oa.upm.es:8031
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5650363&tag=1
Deposited by: Memoria Investigacion
Deposited on: 22 Aug 2011 08:10
Last Modified: 20 Apr 2016 16:58
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