Image Based Visual Servoing: A New Method for the Estimation of the Image Jacobian in Dynamic Environments

@inproceedings{Pari2006ImageBV,
  title={Image Based Visual Servoing: A New Method for the Estimation of the Image Jacobian in Dynamic Environments},
  author={Lizardo Pari and Jos{\'e} Mar{\'i}a Sebasti{\'a}n and Carolina Gonz{\'a}lez and Luis {\'A}ngel},
  booktitle={ICIAR},
  year={2006}
}
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… CONTINUE READING

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