Image based visual servoing:: A new method for the estimation of the image jacobian in dynamic environments

被引：0
|
作者：
Pari, L.
Sebastian, J. M.
Gonzalez, C.
Angel, L.
机构：
[1] Univ Politecn Madrid, Escuela Tecn Super Ingn Ind, Dept Automat Ingn Elect & Informat Ind, E-28006 Madrid, Spain
[2] Univ Pontificia Bolivariana, Fac Ingn Elect, Bucaramanga, Colombia
来源：
IMAGE ANALYSIS AND RECOGNITION, PT 1 | 2006年 / 4141卷
关键词：
visual servoing; jacobian estimation; fundamental matrix;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper describes a innovative algorithm for the on-line estimation of the image jacobian based on previous movements. It has been utilized for the tracking of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The algorithm incorporates the epipolar restriction of the two cameras conveyed in the fundamental matrix, and a reliability factor has been defined for the previous movements. The tests carried out show that the proposed algorithm is more robust in presence of noise than those obtained from already existing algorithms in specialized literature.
引用
收藏
页码：850 / 861
页数：12
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