Memorias de investigación
Communications at congresses:
Image Based Visual Servoing: Estimated Image Jacobian by Using Fundamental Matrix VS Analytic Jacobian
Year:2008
Research Areas
  • Automatic
Information
Abstract
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.
International
Si
Congress
Internacional Conference on Image Analysis and Recognition (ICIAR 2008)
960
Place
Povoa de Varzim, Portugal
Reviewers
Si
ISBN/ISSN
978-3-540-69811-1
Start Date
25/06/2008
End Date
27/06/2008
From page
706
To page
717
Proceedings del Congreso
Participants
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Visión por computador
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial