Estimation method for normalised feature Jacobian matrix using only one camera

@inproceedings{Jang1990EstimationMF,
  title={Estimation method for normalised feature Jacobian matrix using only one camera},
  author={Won Jang and Zeung nam Bien},
  year={1990}
}
For feature-based visual servoing of an eye-in-hand robot, it is necessary to know the relationship between small feature changes and differential motion of the camera mounted on the robot's end-effector. This paper proposes a new scheme for online estimation of this relationship. The proposed scheme uses only one image and requires no a priori knowledge about environment, and therefore would be an effective tool for the feature-based visual servoing. 

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