Online-estimation of Image Jacobian based on adaptive Kalman filter

Focus on the uncalibrated visual servo, we established a filtering system based on Kalman Filter, and validated it by Matlab. Then we discussed the stability precondition of the control system with Kalman Filter in detail, and made a conclusion that if and only if the origin system is completely controllable and observable, the filtering system can converged to the expected position. Refer to the problem that we can´t get the statistical information of the real system, we designed an adaptive Kalman filter and applied it in a real-time track task, and with the track error is within 5 pixel.