Visual servo of active camera and manipulator with simple on-line calibration for estimated image feature

In visual servo system, there are problems on time delay by image processing and difference between image processing period and control period. In order to overcome these problems, the estimated image feature applied to a fixed camera has been proposed. Since the compensation of delay utilizes image Jacobian matrices which represent geometric models of manipulator and camera, it is affected by their calibration error. Therefore, this paper proposes a new visual servo system for active camera using estimated image feature with a simple on-line calibration. In order to reduce estimation error of image feature, the proposed method is calibrating each element of image Jacobian matrices from error of the estimated image feature. It is simple algorithm and few calculation amount compared to calibrating each parameters correctly such as internal camera parameters and orientation of manipulator and camera. The effectiveness of the proposed strategy is confirmed by a moving object tracking by a manipulator and an active camera