Motion perceptibility and its application to active vision-based servo control

We address the ability of a computer vision system to perceive the motion of an object (possibly a robot manipulator) in its field of view. We derive a quantitative measure of motion perceptibility, which relates the magnitude of the rate of change in an object´s position to the magnitude of the rate of change in the image of that object. We then show how motion perceptibility can be combined with the traditional notion of manipulability, into a composite perceptibility/manipulability measure. We demonstrate how this composite measure may be applied to a number of different problems involving relative hand/eye positioning and control