A new method for the estimation of the image jacobian for the control of an uncalibrated joint system

Authors:
Jose M. Sebastián;Lizardo Pari;Carolina González;Luis Ángel
Affiliations:
Departamento de Automática (DISAM), Universidad Politécnica de Madrid, Madrid, Spain;Departamento de Automática (DISAM), Universidad Politécnica de Madrid, Madrid, Spain;Departamento de Automática (DISAM), Universidad Politécnica de Madrid, Madrid, Spain;Escuela de Ingeniería Electrónica, Universidad Pontificia Bolivariana, Bucaramanga, Colombia
Venue:
IbPRIA'05 Proceedings of the Second Iberian conference on Pattern Recognition and Image Analysis - Volume Part I
Year:
2005

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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.