%0 Conference Proceedings
%F Lapreste04b
%A Lapresté, J.-T.
%A Jurie, F.
%A Dhome, M.
%A Chaumette, F.
%T An efficient method to compute the inverse Jacobian matrix in visual servoing
%B IEEE Int. Conf. on Robotics and Automation, ICRA'04
%V 	 1
%P 727-732
%C New Orleans, Louisiana
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2004_icra_lapreste.pdf
%8 April
%D 2004