An Efficient Method to Compute the Inverse Jacobian Matrix in Visual Servoing

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 # = f (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

Video Surveillance

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