# An efficient method to compute the inverse Jacobian matrix in visual servoing

2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE, Inria Rennes – Bretagne Atlantique , CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : The paper presents a method for estimating the inverse Jacobian matrix of a function, without computing the direct Jacobian matrix. The resulting inverse Jacobian matrix is shown to perform much better in modelling a relation $\theta= f^{-1}(x)$ than the classical Moore-Penrose inverse $J^+_f$ . Theoretical insight as well as comparisons in the domain of visual servoing are provided to demonstrate this assertion.
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Conference papers
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Cited literature [18 references]

https://hal.inria.fr/inria-00352026
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2004_icra_lapreste.pdf
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• HAL Id : inria-00352026, version 1

### Citation

Jean-Thierry Lapresté, Frédéric Jurie, Michel Dhome, François Chaumette. An efficient method to compute the inverse Jacobian matrix in visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'04, 2004, New Orleans, Louisiana, France. pp.727-732. ⟨inria-00352026⟩

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