Title :
Pseudo-inverse Estimation of Image Jacobian Matrix in Uncalibrated Visual Servoing
Author :
Qing-sheng, KANG ; Ting, HAO ; Zheng-da, MENG ; Xian-zhong, DAI
Author_Institution :
Res. & Dev. Center, Aerosun Corp., Nanjing
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
Keywords :
Jacobian matrices; end effectors; image motion analysis; robot vision; image Jacobian matrix; pseudo-inverse estimation; quasiGauss-Newton strategies; recursive least square algorithm; trust region visual servoing control strategies; uncalibrated visual servoing; Cameras; Control systems; End effectors; Iterative algorithms; Jacobian matrices; Least squares approximation; Recursive estimation; Robot vision systems; Target tracking; Visual servoing; estimation; image Jacobian; pseudo-inverse; uncalibrated; visual servoing;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257399
