Title :
On the performance of state estimation for visual servo systems
Author :
Bishop, Brad ; Hutchinson, Seth ; Spong, Mark
Author_Institution :
Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
Abstract :
Discusses the use of computer vision for real-time state estimation in feedback control systems. To this end, the authors construct a system for visual state estimation of simple state vectors and study the effects of various real-world disturbances on the state estimates. Simulations are performed using a detailed camera model to study the performance of an image plane position estimation algorithm for a single circular feature. Various disturbances, such as lens distortion, noise, defocus, and blurring are simulated and analyzed with respect to this estimation routine and visual state estimation in general
Keywords :
computer vision; robots; servomechanisms; state estimation; state feedback; blurring; computer vision; defocus; detailed camera model; feedback control systems; image plane position estimation algorithm; lens distortion; noise; real-time state estimation; single circular feature; visual servo systems; visual state estimation; Analytical models; Computer vision; Lenses; Machine vision; Robot control; Robot sensing systems; Robot vision systems; Sampling methods; Servomechanisms; State estimation;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350993
