Visiting Lecturer Program (140) Speaker: Azad Shademan Ph.D. candidate Department of Computing Sciences University of Alberta, Canada Title: Uncalibrated Image-Based Robotic Visual Servoing Local Host: Ms. Nasim Pouraryan Time: Wednesday, November 5, 2008, 12:30-2:00 pm Location: Faculty of Electrical and Computer Engineering, University of Tehran, Tehran Abstract: Design of versatile vision-based robotic systems demands a solution with little or no dependence on system parameters. The problem of real-time vision-based control of robots has been long studied as robotic visual servoing. Most provably stable solutions to this problem require calibrated kinematic and camera models, because in a precisely calibrated system one can model the visual-motor function analytically. The uncalibrated approach has received limited attention mainly because the stability analysis is not as straightforward as that of calibrated image-based architecture. In an uncalibrated system the visual-motor function is not known, but partial derivative information (Jacobian) can be learned by tracking visual measurements during motion. In this talk, we study the uncalibrated image-based visual servoing and present different Jacobian learning methods.