On the Performance of State Estimation for Visual Servo Systems
نویسندگان
چکیده
Brad Bishop Seth Hutchinson Mark Spong Coordinated Science Lab Elect. and Comp. Eng. Coordinated Science Lab University of Illinois University of Illinois University of Illinois Urbana, IL 61801 Urbana, IL 61801 Urbana, IL 61801 Abstract In this paper we discuss the use of computer vision for real{time state estimation in feedback control systems. To this end, we construct a system for visual state estimation of simple state vectors and study the e ects 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.
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تاریخ انتشار 1994