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

Graziano Chesi, Koichi Hashimoto

Research output: Contribution to journalArticlepeer-review

24 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)1239-1242
Number of pages4
JournalIEEE Transactions on Pattern Analysis and Machine Intelligence
Issue number9
Publication statusPublished - 2004 Sept

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