Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
412488 | Robotics and Autonomous Systems | 2009 | 10 Pages |
Abstract
This paper describes a new algorithm for visual control of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The algorithm estimates on-line the Image Jacobian, a matrix which linearly relates joint velocity and image feature velocity. In our experiments we prove that by using the fundamental matrix, robustness of the estimation in the presence of noise is significantly increased with respect to already existing algorithms in specialized literature.
Keywords
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
J.M. Sebastián, L. Pari, L. Angel, A. Traslosheros,