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Measurement errors in visual servoing
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2006 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 0921-8830, Vol. 54, no 10, 815-827 p.Article in journal (Refereed) Published
Abstract [en]

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 2.5D visual servoing. The evaluation offers a tool to build and analyze hybrid control systems such as switching or partitioning control.

Place, publisher, year, edition, pages
2006. Vol. 54, no 10, 815-827 p.
Keyword [en]
visual servoing, measurement errors, error estimation, pose estimation, orientation
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-16035DOI: 10.1016/j.robot.2006.05.002ISI: 000241078600004ScopusID: 2-s2.0-33748466712OAI: diva2:334077
QC 20100525Available from: 2010-08-05 Created: 2010-08-05 Last updated: 2012-01-23Bibliographically approved

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Kragic, Danica
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