Memorias de investigación
Ponencias en congresos:
Image Based Visual Servoing: Estimated Image Jacobian by Using Fundamental Matrix VS Analytic Jacobian
Año:2008
Áreas de investigación
  • Automática
Datos
Descripción
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.
Internacional
Si
Nombre congreso
Internacional Conference on Image Analysis and Recognition (ICIAR 2008)
Tipo de participación
960
Lugar del congreso
Povoa de Varzim, Portugal
Revisores
Si
ISBN o ISSN
978-3-540-69811-1
DOI
Fecha inicio congreso
25/06/2008
Fecha fin congreso
27/06/2008
Desde la página
706
Hasta la página
717
Título de las actas
Proceedings del Congreso
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Visión por computador
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial