Feature-based Visual Servoing Research Articles

Estimation method for normalised feature jacobian matrix using only one camera

For feature-based visual servoing of an eye-in-hand robot, it is necessary to know the relationship between small feature changes and differential motion of the camera mounted on the robot's end-effector. This paper proposes a new scheme for online estimation of this relationship. The proposed scheme uses only one image and requires no a priori knowledge about environment, and therefore would be an effective tool for the feature-based visual servoing.