Abstract
This paper describes various innovative algorithms for the on-line estimation of the image jacobian, a matrix which linearly relates joint velocity and image feature velocity. We have applied them successfully to the static visual control of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The proposed algorithms prove to be particularly robust when image features are calculated with an average level of noise, and our results are clearly better than those obtained for already existing algorithms in specialized literature.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Corke, P.I.: Visual Control of Robots: High Performance Visual Servoing. Research Studies Press (1996)
Hutchinson, S.A., Hager, G.D., Corke, P.I.: A tutorial on visual servo control. IEEE Trans. Robotics and Automation 12(5), 651–670 (1996)
Kragic, D., Christensen: Survey on visual servoing for manipulation. Technical Report ISRN KTH/NA/P-02/01-Sen, CVAP259 (2002)
Deng, Z., Jägersand, M.: Evaluation of Model Independent Image-Based Visual Servoing. In: Proceedings. First Canadian Conference on Computer and Robot Vision, pp. 138–144 (2004)
Sutanto, H., Sharma, R., Varma, V.: The role of exploratory movement in visual servoing without calibration. Robotics and Autonomous Systems 23, 153–169 (1998)
Piepmeier, J.A., McMurray, G.V., Lipkin, H.: Uncalibrated Dynamic Visual Servoing. IEEE Transactions on Robotics and Automation 20(1), 143–147 (2004)
Asada, M., Tanaka, T., Hosoda, K.: Adaptive Binocular Visual Servoing for Independently Moving Target Tracking. In: International Conference on Robotics & Automation, pp. 2076–2081 (2000)
Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge (2000)
Faugeras, O., Luong, Q.T.: The Geometry of Múltiple Images. MIT Press, Cambridge (2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Sebastián, J.M., Pari, L., González, C., Ángel, L. (2005). A New Method for the Estimation of the Image Jacobian for the Control of an Uncalibrated Joint System. In: Marques, J.S., Pérez de la Blanca, N., Pina, P. (eds) Pattern Recognition and Image Analysis. IbPRIA 2005. Lecture Notes in Computer Science, vol 3522. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11492429_76
Download citation
DOI: https://doi.org/10.1007/11492429_76
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26153-7
Online ISBN: 978-3-540-32237-5
eBook Packages: Computer ScienceComputer Science (R0)