Memorias de investigación
Ponencias en congresos:
A Comparative Study between Analytic and Estimated Image Jacobian by Using a Stereoscopic System of Cameras
Año:2010
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 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.
Internacional
Si
Nombre congreso
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
Tipo de participación
960
Lugar del congreso
Taipei, Taiwan
Revisores
Si
ISBN o ISSN
978-1-4244-6675-7
DOI
Fecha inicio congreso
18/10/2010
Fecha fin congreso
22/10/2010
Desde la página
6208
Hasta la página
6215
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: Robots y máquinas inteligentes
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial