Online computation of feature sensitivity matrix for visual servo control of robots

For image-based visual servoing of a robot, it is necessary to determine a feature sensitivity matrix G indicating the relation between small feature changes and differential motion of the camera mounted on the robot. In this letter, a new scheme for online computation of the G matrix is proposed. The proposed scheme, which requires no knowledge of relative object position, is simple, owing to a coaxially-aligned dual camera set, and would be effective for vision-based control of manipulators or mobile robots