Hostname: page-component-7b7567c8c-tnzcf Total loading time: 0 Render date: 2026-11-14T18:00:46.905Z Has data issue: false hasContentIssue false
  • English
  • Français

Target tracking using the efficient estimation of the image Jacobian with large residual

Published online by Cambridge University Press:  31 October 2005

Gon Woo Kim and
Beom Hee Lee
Gon Woo Kim
Affiliation:
School of Electrical Engineering, Seoul National University, San 56-1, Sillim-Dong, Gwanak-Gu, Seoul, 151-742, South Korea
Beom Hee Lee
Affiliation:
School of Electrical Engineering, Seoul National University, San 56-1, Sillim-Dong, Gwanak-Gu, Seoul, 151-742, South Korea
Rights & Permissions [Opens in a new window]

Abstract

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

An efficient calibration-free visual servoing method is presented. The nonlinear optimization problem is formulated with the residual term for tracking a target. The residual term is estimated based on the secant approximation method. The image Jacobian is estimated using the affine model of the end-effector feature. Some experimental results are presented for a moving target.

Keywords

Image JacobianUnconstrained optimizationCalibration-free visual servoingTarget tracking

Information

Type
Article
Information
Robotica , Volume 24 , Issue 3 , May 2006, pp. 325 - 327
Copyright
2005 Cambridge University Press