DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing
Yasunori Toshimitsu,Kento Kawaharazuka,Akihiro Miki,Kei Okada,Masayuki Inaba,Yasunori Toshimitsu,Kento Kawaharazuka,Akihiro Miki,Kei Okada,Masayuki Inaba
For robots to move in the real world, they must first correctly understand the state of its own body and the tools that it holds. In this research, we propose DIJE, an algorithm to estimate the image Jacobian for every pixel. It is based on an optical flow calculation and a simplified Kalman Filter that can be efficiently run on the whole image in real time. It does not rely on markers nor knowled...
