Title:
Measurement Errors in Visual Servoing
Measurement Errors in Visual Servoing
Author(s)
Kryki, V.
Kragic, Danica
Christensen, Henrik I.
Kragic, Danica
Christensen, Henrik I.
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Abstract
This paper addresses the issue of measurement errors in visual servoing. The error
characteristics of the vision based state estimation and the associated uncertainty of
the control are investigated. The major contribution is the analysis of the propagation
of image error through pose estimation and visual servoing control law. Using
the analysis, two classical visual servoing methods are evaluated: position-based and
2 1/2 D visual servoing. The evaluation offers a tool to build and analyze hybrid
control systems such as switching or partitioning control.
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Date Issued
2006-10
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Text
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Pre-print