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An efficient method to compute the inverse Jacobian matrix in visual servoing
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.
Cited literature [18 references]
https://hal.inria.fr/inria-00352026
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Monday, January 12, 2009 - 1:53:18 PM
Last modification on : Thursday, January 20, 2022 - 4:20:26 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 5:08:27 PM
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Monday, January 12, 2009 - 1:53:18 PM
Last modification on : Thursday, January 20, 2022 - 4:20:26 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 5:08:27 PM
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2004_icra_lapreste.pdf
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