A simple technique for improving camera displacement estimation in eye-in-hand visual servoing

A simple technique for estimating the camera displacement from point correspondences in eye-in-hand visual servoing is presented. The idea for providing more accurate results than existing methods consists of taking into account that the point correspondences used during the camera motion correspond to stationary spatial points, hence exploiting additional information. This is done by first estimating the object Euclidean structure and then estimating the camera displacement from this estimate.