Pseudo-inverse Estimation of Image Jacobian Matrix in Uncalibrated Visual Servoing
2006Vol. 100, pp. 1515–1520
Citations Over Time
Abstract
On general uncalibrated visual servoing algorithm, this paper proposes a new visual servoing method for moving targets, which is direct estimation of pseudo-inverse of image Jacobian matrix based on recursive least square algorithm and without calculation of the image feature velocity. The quasi-Gauss-Newton and trust region visual servoing control strategies are deduced based on pseudo-inverse estimation of image Jacobian matrix for moving targets. Simulations and experiments demonstrate the validity of this method
Related Papers
- Application of Pseudo-inverse Estimation of Image Jacobian Matrix to Visual Servoing(2006)
- → Pseudo-inverse Estimation of Image Jacobian Matrix in Uncalibrated Visual Servoing(2006)7 cited
- Comparing methods for estimating the Jacobian in visual servoing(2008)
- → Finding extrinsic camera parameters through visual servoing(2016)
- Model-based vs. model-free visual servoing: a performance evaluation in microsystems(2007)