Practical methods of optimization; (2nd ed.)
Practical methods of optimization; (2nd ed.)
A Hierarchical Vision Architecture for Robotic Manipulation Tasks
ICVS '99 Proceedings of the First International Conference on Computer Vision Systems
Calibration-free visual control using projective invariance
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Visual space task specification, planning and control
ISCV '95 Proceedings of the International Symposium on Computer Vision
Adaptive Differential Visual Feedback for Uncalibrated Hand-Eye Coordination and Motor Control
Adaptive Differential Visual Feedback for Uncalibrated Hand-Eye Coordination and Motor Control
Task specification languages for uncalibrated visual servoing
Task specification languages for uncalibrated visual servoing
ICIAR '08 Proceedings of the 5th international conference on Image Analysis and Recognition
Uncalibrated visual servoing using the fundamental matrix
Robotics and Autonomous Systems
ICIAR'06 Proceedings of the Third international conference on Image Analysis and Recognition - Volume Part I
IbPRIA'05 Proceedings of the Second Iberian conference on Pattern Recognition and Image Analysis - Volume Part I
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The camera-robot calibration requirements in visual servoing can make it difficult to apply in many real-world situations. One approach to image-based visual servoing without calibration is to dynamically estimate the full visual-motor Jacobian during motion. In this paper we contrast three commonly used estimation approaches, and compare errors in the estimates. Other work has reported endpoint positioning accuracy for uncallibrated visual servoing. We also show how varying estimates errors affect trajectory following. The experiments have been carried out on both real and simulated PUMA 560 and 760 robots.