Skip to Main content Skip to Navigation
Conference papers

Stacking Jacobians Properly in Stereo Visual Servoing

Abstract : Most visual servoing applications are concerned with geometrically modeled objects. In this paper, the problem of controlling a motion by visual servoing around an unknown object with a stereovision system is addressed. The main goal is to move the end-effector around the object in order to observe several viewpoints of the object for other tasks, e.g. inspection or grasping. The present work uses the well-known image-based visual servoing approach with a point, but the importance of the relationship between the end-effector and camera frames is clarified and emphasized. This relationship is needed for properly stacking the Jaco-bians or interaction matrices of each camera. A comparison with a visual servoing approach with a direct stacking of the Jacobians is presented. The centroid of a region, obtained by color segmentation, is used to move around the observed object. Experiments are developed on a PA-10 robot connected to a real time stereovision system, with two cameras mounted on the end-effector. Experimental results demonstrate the importance of a proper definition of the stacked Jaco-bians, to avoid undesired motions in the servoing task. Particularly, when turning around an unknown object, undesired motions on roll angle of the stereovision system can be avoided.
Document type :
Conference papers
Complete list of metadata

Cited literature [12 references]  Display  Hide  Download
Contributor : Philippe Martinet <>
Submitted on : Tuesday, February 4, 2020 - 1:03:50 PM
Last modification on : Tuesday, April 20, 2021 - 11:20:06 AM


Files produced by the author(s)



Philippe Martinet, Enric Cervera. Stacking Jacobians Properly in Stereo Visual Servoing. ICRA 2001 - IEEE International Conference on Robotics and Automation, May 2001, Seoul, South Korea. pp.717-722, ⟨10.1109/ROBOT.2001.932635⟩. ⟨hal-02466224⟩



Record views


Files downloads