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2006

Measurement errors in visual servoing

8 years 3 months ago
Measurement errors in visual servoing
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. Key words: visual servoing, measurement errors, error estimation
Ville Kyrki, Danica Kragic, Henrik I. Christensen
Added 14 Dec 2010
Updated 14 Dec 2010
Type Journal
Year 2006
Where RAS
Authors Ville Kyrki, Danica Kragic, Henrik I. Christensen
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