Measurement errors in visual servoing
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
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.
visual servoing, measurement errors, error estimation, pose estimation, orientation
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-16035DOI: 10.1016/j.robot.2006.05.002ISI: 000241078600004ScopusID: 2-s2.0-33748466712OAI: oai:DiVA.org:kth-16035DiVA: diva2:334077
QC 201005252010-08-052010-08-052012-01-23Bibliographically approved