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This paper addresses robust estimation of the uncalibrated visual-motor Jacobian for an image-based visual servoing (IBVS) system. The proposed method does not require knowledge of model or system parameters and is robust to outliers caused by various visual tracking errors, such as occlusion or mis-tracking. Previous uncalibrated methods are not robust to outliers and assume that the visual-motor data belong to the underlying model. In unstructured environments, this assumption may not hold.doi:10.1109/robot.2010.5509911 dblp:conf/icra/ShademanFJ10 fatcat:r423e3nujzb6jpbkbktn3gi6ni