Image Based Visual Servoing: Estimated Image Jacobian by Using Fundamental Matrix VS Analytic Jacobian

Authors:
L. Pari;J. M. Sebastián;A. Traslosheros;L. Angel
Affiliations:
Departamento de Automática, Ingeniería Electrónica e Informática Industrial (DISAM) Escuela Técnica Superior de Ingenieros Industriales, Universidad Politécnica de Ma ...;Departamento de Automática, Ingeniería Electrónica e Informática Industrial (DISAM) Escuela Técnica Superior de Ingenieros Industriales, Universidad Politécnica de Ma ...;Departamento de Automática, Ingeniería Electrónica e Informática Industrial (DISAM) Escuela Técnica Superior de Ingenieros Industriales, Universidad Politécnica de Ma ...;Facultad de Ingeniería Electrónica, Universidad Pontificia Bolivariana, Bucaramanga, Colombia
Venue:
ICIAR '08 Proceedings of the 5th international conference on Image Analysis and Recognition
Year:
2008

Citing 6
Cited 0

In Defense of the Eight-Point Algorithm

IEEE Transactions on Pattern Analysis and Machine Intelligence
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications

The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
Multiple View Geometry in Computer Vision

Multiple View Geometry in Computer Vision
Evaluation of Model Independent Image-Based Visual Servoing

CRV '04 Proceedings of the 1st Canadian Conference on Computer and Robot Vision
Image based visual servoing: a new method for the estimation of the image jacobian in dynamic environments

ICIAR'06 Proceedings of the Third international conference on Image Analysis and Recognition - Volume Part I
A new method for the estimation of the image jacobian for the control of an uncalibrated joint system

IbPRIA'05 Proceedings of the Second Iberian conference on Pattern Recognition and Image Analysis - Volume Part I

Quantified Score

Hi-index	0.00

Visualization

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.