Image based visual servoing: a new method for the estimation of the image jacobian in dynamic environments

Authors:
L. Pari;J. M. Sebastián;C. González;L. Angel
Affiliations:
Departamento de Automática, Ingeniería Electrónica e Informática Industrial (DISAM), Escuela Técnica Superior de Ingenieros Industriales, Universidad Politécnica de M ...;Departamento de Automática, Ingeniería Electrónica e Informática Industrial (DISAM), Escuela Técnica Superior de Ingenieros Industriales, Universidad Politécnica de M ...;Departamento de Automática, Ingeniería Electrónica e Informática Industrial (DISAM), Escuela Técnica Superior de Ingenieros Industriales, Universidad Politécnica de M ...;Facultad de Ingeniería Electrónica, Universidad Pontificia Bolivariana, Bucaramanga, Colombia
Venue:
ICIAR'06 Proceedings of the Third international conference on Image Analysis and Recognition - Volume Part I
Year:
2006

Citing 3
Cited 1

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Abstract

This paper describes a innovative algorithm for the on-line estimation of the image jacobian based on previous movements. It has been utilized for the tracking of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The algorithm incorporates the epipolar restriction of the two cameras conveyed in the fundamental matrix, and a reliability factor has been defined for the previous movements. The tests carried out show that the proposed algorithm is more robust in presence of noise than those obtained from already existing algorithms in specialized literature.