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13

RAS
2006

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Measurement errors in visual servoing

13 years 4 months ago

Measurement errors in visual servoing

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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

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Classical Visual Servoing | RAS 2006 | Visual Servoing | Visual Servoing Control |

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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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