{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:58:36Z","timestamp":1777715916715,"version":"3.51.4"},"reference-count":23,"publisher":"SAGE Publications","issue":"10-11","license":[{"start":{"date-parts":[[2003,10,1]],"date-time":"2003-10-01T00:00:00Z","timestamp":1064966400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2003,10]]},"abstract":"<jats:p>In this paper we present new uncalibrated control schemes for vision-guided robotic tracking of a moving target using a moving camera. These control methods are applied to an uncalibrated robotic system with eye-in-hand visual feedback. Without a priori knowledge of the robot's kinematic model or camera calibration, the system is able to track a moving object through a variety of motions and maintain the object's image features in a desired position in the image plane. These control schemes estimate the system Jacobian as well as changes in target features due to target motion. Four novel strategies are simulated and a variety of parameters are investigated with respect to performance. Simulation results suggest that a Gauss-Newton method utilizing a partitioned Broyden's method for model estimation provides the best steady-state tracking behavior.<\/jats:p>","DOI":"10.1177\/027836490302210002","type":"journal-article","created":{"date-parts":[[2003,10,15]],"date-time":"2003-10-15T16:35:03Z","timestamp":1066235703000},"page":"805-819","source":"Crossref","is-referenced-by-count":80,"title":["Uncalibrated Eye-in-Hand Visual Servoing"],"prefix":"10.1177","volume":"22","author":[{"given":"Jenelle Armstrong","family":"Piepmeier","sequence":"first","affiliation":[{"name":"U.S. Naval Academy Annapolis, MD 21402, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Harvey","family":"Lipkin","sequence":"additional","affiliation":[{"name":"Georgia Institute of Technology Atlanta, GA 30332, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2003,10,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/70.760357"},{"key":"atypb2","first-page":"902","volume-title":"International Conference on Advanced Intelligent Mechatronics","author":"Baeten, J."},{"key":"atypb3","first-page":"2248","volume-title":"IEEE International Conference on Robotics and Automation","author":"Chaumette, F."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/100.486658"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1109\/70.954764"},{"key":"atypb6","first-page":"1251","volume-title":"14th International Conference on Pattern Recognition","author":"Cr\u00e9tual, A."},{"key":"atypb7","volume-title":"Numerical Methods for Unconstrained Optimization and Nonlinear Equations","author":"Dennis, J. E.","year":"1983"},{"key":"atypb8","first-page":"2741","volume-title":"IEEE International Conference on Robotics and Automation","author":"Flandin, G."},{"key":"atypb9","volume-title":"Digital Control of Dynamic Systems","author":"Franklin, G. F.","year":"1990"},{"key":"atypb10","first-page":"263","volume-title":"International Conference on Robotics and Automation","author":"Hashimoto, K."},{"key":"atypb11","volume-title":"Adaptive Filter Theory","author":"Haykin, S.","year":"1991"},{"key":"atypb12","first-page":"186","volume-title":"IEEE\/RSJ\/GI International Conference on Intelligent Robots and Systems","author":"Hosoda, K."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/100.740464"},{"key":"atypb14","first-page":"2874","volume-title":"Proceedings of International Conference on Robotics and Automation","author":"Jagersand, M."},{"key":"atypb15","first-page":"2254","volume-title":"IEEE International Conference on Robotics and Automation","author":"Jang, W."},{"key":"atypb16","first-page":"217","volume-title":"IEEE International Conference on Robotics and Automation","author":"Malis, E."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.999646"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1109\/70.917078"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1109\/70.210792"},{"key":"atypb20","unstructured":"Piepmeier, J. A. 1999.\n                      A Dynamic Quasi-Newton Method for Model                     Independent Visual Servoing\n                      . Ph.D. Thesis, Georgia Institute of Technology."},{"key":"atypb21","first-page":"1595","volume-title":"IEEE International Conference on Robotics and Automation","author":"Piepmeier, J. A."},{"key":"atypb22","volume-title":"SPIE International Symposium on Intelligent Systems and Advanced Manufacturing","author":"Piepmeier, J. A."},{"key":"atypb23","first-page":"156","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Yoshimi, B. H."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836490302210002","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836490302210002","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:51Z","timestamp":1777457811000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836490302210002"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2003,10]]},"references-count":23,"journal-issue":{"issue":"10-11","published-print":{"date-parts":[[2003,10]]}},"alternative-id":["10.1177\/027836490302210002"],"URL":"https:\/\/doi.org\/10.1177\/027836490302210002","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2003,10]]}}}