Yoshimi Billibon author Columbia University. Computer Science Allen Peter K. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1994 English Proposes a method for visual control of a robotic system which does not require the formulation of an explicit calibration between image space and the world coordinate system. Calibration is known to be a difficult and error prone process. By extracting control information directly from the image, the authors free their technique from the errors normally associated with a fixed calibration. The authors demonstrate this by performing a peg-in-hole alignment using an uncalibrated camera to control the positioning of the peg. The algorithm utilizes feedback from a simple geometric effect, rotational invariance, to control the positioning servo loop. The method uses an approximation to the image Jacobian to provide smooth, near-continuous control. Robotics Piscataway, N.J. IEEE 1994 156 161 http://dx.doi.org/10.1109/ROBOT.1994.350995 http://hdl.handle.net/10022/AC:P:15237 NNC NNC 2012-11-08 15:14:37 -0500 2012-11-08 15:20:32 -0500 9239 eng