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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
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

Abstract

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.

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2005 Cambridge University Press

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