Issue No. 08 - August (2007 vol. 29)
Graziano Chesi , IEEE
Y.S. Hung , IEEE
The problem of evaluating worst-case camera positioning error induced by unknown-but-bounded (UBB) image noise for a given object-camera configuration is considered. Specifically, it is shown that upper bounds to the rotation and translation worst-case error for a certain image noise intensity can be obtained through convex optimizations. These upper bounds, contrary to lower bounds provided by standard optimization tools, allow one to design robust visual servo systems.
Visual servoing, image noise, positioning accuracy, convex optimization.
Y. Hung and G. Chesi, "Image Noise Induced Errors in Camera Positioning," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 29, no. , pp. 1476-1480, 2007.