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

Pari Pinto, Pablo Lizardo; Sebastian y Zuñiga, Jose Maria; Traslosheros Michel, Alberto y Ángel Silva, Luis (2010). A Comparative Study between Analytic and Estimated Image Jacobian by Using a Stereoscopic System of Cameras. En: "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.

Descripción

Título: A Comparative Study between Analytic and Estimated Image Jacobian by Using a Stereoscopic System of Cameras
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: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2010
Fechas del Evento: 18/10/2010 - 22/10/2010
Lugar del Evento: Taipei, Taiwan, China
Título del Libro: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2010
Fecha: 2010
ISBN: 978-1-4244-6674-0
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

Texto completo

[img]
Vista Previa
PDF (Document Portable Format) - Se necesita un visor de ficheros PDF, como GSview, Xpdf o Adobe Acrobat Reader
Descargar (991kB) | Vista Previa

Resumen

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.

Más información

ID de Registro: 8031
Identificador DC: http://oa.upm.es/8031/
Identificador OAI: oai:oa.upm.es:8031
URL Oficial: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5650363&tag=1
Depositado por: Memoria Investigacion
Depositado el: 22 Ago 2011 08:10
Ultima Modificación: 20 Abr 2016 16:58
  • Open Access
  • Open Access
  • Sherpa-Romeo
    Compruebe si la revista anglosajona en la que ha publicado un artículo permite también su publicación en abierto.
  • Dulcinea
    Compruebe si la revista española en la que ha publicado un artículo permite también su publicación en abierto.
  • Recolecta
  • e-ciencia
  • Observatorio I+D+i UPM
  • OpenCourseWare UPM