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J.-T. Lapresté, F. Jurie, M. Dhome, F. Chaumette. An efficient method to compute the inverse Jacobian matrix in visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'04, Volume 1, Pages 727-732, New Orleans, Louisiana, April 2004.

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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 $\theta= f^{-1}(x)$ 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


Francois Chaumette

BibTex Reference

   Author = {Lapresté, J.-T. and Jurie, F. and Dhome, M. and Chaumette, F.},
   Title = {An efficient method to compute the inverse Jacobian matrix in visual servoing},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'04},
   Volume = {    1},
   Pages = {727--732},
   Address = {New Orleans, Louisiana},
   Month = {April},
   Year = {2004}

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