The estimation of image Jacobian matrix with time-delay compensation for uncalibrated visual servoing

摘要

A novel online estimation of image Jacobian matrix with time-delay compensation for uncalibrated visual servoing is proposed.The traditional methods didn't consider the time-delay which causes larger estimation error.In order to compensate the time-delay,local fitting Jacobian matrix with time-delay compensation based on polynomial fitting is employed to obtain more accurate Jacobian estimation and image precompensation.Simulations and experiments of uncalibrated mobile robot and uncalibrated visual sensors show that this method improves the system dynamic performance and reduces the steady-state error,demonstrating the feasibility and validity of the time-delay compensation.