Memorias de investigación
Communications at congresses:
A Comparative Study between Analytic and Estimated Image Jacobian by Using a Stereoscopic System of Cameras
Year:2010

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 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.
International
Si
Congress
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
960
Place
Taipei, Taiwan
Reviewers
Si
ISBN/ISSN
978-1-4244-6675-7
Start Date
18/10/2010
End Date
22/10/2010
From page
6208
To page
6215
Proceedings del Congreso
Participants

Research Group, Departaments and Institutes related
  • 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