Title :
Image Noise Induced Errors in Camera Positioning
Author :
Chesi, G. ; Hung, Y.S.
Author_Institution :
Univ.of Hong Kong, Hong Kong
Abstract :
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.
Keywords :
cameras; position control; robot vision; visual servoing; convex optimizations; image noise induced errors; object-camera configuration; robust visual servo systems; unknown-but-bounded image noise; worst-case camera positioning error; Cameras; Design optimization; Feedback; Linear matrix inequalities; Noise robustness; Robot vision systems; Senior members; Servomechanisms; Upper bound; Visual servoing; Visual servoing; convex optimization.; image noise; positioning accuracy;
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
DOI :
10.1109/TPAMI.2007.70723
