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Proceedings Paper

On-line estimation of image jacobian matrix by improved Broyden's method in uncalibrated visual servoing
Author(s): Xiangjin Zeng; Xinhan Huang; Min Wang
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Paper Abstract

A novel improved broyden's method has been presented to estimate image jacobian matrix for uncalibrated visual servoing. In this paper, we apply chebyshev polynomial as a cost function to approximate best value. Compared with recursive least square (RLS) algorithm which is restricted by the prior knowledge for obtaining some performances, chebyshev polynomial algorithm has a great adaptability to estimate jacobian parameter, even without the prior knowledge. A microscopic image jacobian model has been developed for the four degree-of-freedom micromanipulator in our microassembly system. The performance has been confirmed by simulations and experiments.

Paper Details

Date Published: 15 November 2007
PDF: 8 pages
Proc. SPIE 6788, MIPPR 2007: Pattern Recognition and Computer Vision, 67881S (15 November 2007); doi: 10.1117/12.750188
Show Author Affiliations
Xiangjin Zeng, Huazhong Univ. of Science and Technology (China)
Xinhan Huang, Huazhong Univ. of Science and Technology (China)
Min Wang, Huazhong Univ. of Science and Technology (China)

Published in SPIE Proceedings Vol. 6788:
MIPPR 2007: Pattern Recognition and Computer Vision

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