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Conference Paper: Performance limitation analysis in visual servo systems: Bounding the location error introduced by image points matching

TitlePerformance limitation analysis in visual servo systems: Bounding the location error introduced by image points matching
Authors
KeywordsConvex Optimization
Image Noise
Positioning Accuracy
Visual Servoing
Issue Date2009
PublisherIEEE Computer Society.
Citation
IEEE International Conference on Robotics and Automation (ICRA 09), Kobe, Japan, 12-17 May 2009. In IEEE International Conference on Robotics and Automation Proceedings, 2009, p. 695-700 How to Cite?
AbstractVisual servoing consists of positioning a robot endeffector based on the matching of some object features in the image. However, due to the presence of image noise, this matching can never be ensured, hence introducing an error on the final location of the robot. This paper addresses the problem of estimating the worst-case location error introduced by image points matching. In particular, we propose some strategies for computing upper bounds and lower bounds of such an error according to several possible measures for certain image noise intensity and camera-object configuration. These bounds provide an admissible region of the sought worst-case location error, and hence allow one to establish performance limitation of visual servo systems. Some examples are reported to illustrate the proposed strategies and their results. © 2009 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/158602
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.contributor.authorYung, HLen_US
dc.date.accessioned2012-08-08T09:00:26Z-
dc.date.available2012-08-08T09:00:26Z-
dc.date.issued2009en_US
dc.identifier.citationIEEE International Conference on Robotics and Automation (ICRA 09), Kobe, Japan, 12-17 May 2009. In IEEE International Conference on Robotics and Automation Proceedings, 2009, p. 695-700en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/10722/158602-
dc.description.abstractVisual servoing consists of positioning a robot endeffector based on the matching of some object features in the image. However, due to the presence of image noise, this matching can never be ensured, hence introducing an error on the final location of the robot. This paper addresses the problem of estimating the worst-case location error introduced by image points matching. In particular, we propose some strategies for computing upper bounds and lower bounds of such an error according to several possible measures for certain image noise intensity and camera-object configuration. These bounds provide an admissible region of the sought worst-case location error, and hence allow one to establish performance limitation of visual servo systems. Some examples are reported to illustrate the proposed strategies and their results. © 2009 IEEE.en_US
dc.languageengen_US
dc.publisherIEEE Computer Society.-
dc.relation.ispartofIEEE International Conference on Robotics and Automation Proceedingsen_US
dc.rightsIEEE International Conference on Robotics and Automation Proceedings. Copyright © IEEE Computer Society.-
dc.rights©2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectConvex Optimizationen_US
dc.subjectImage Noiseen_US
dc.subjectPositioning Accuracyen_US
dc.subjectVisual Servoingen_US
dc.titlePerformance limitation analysis in visual servo systems: Bounding the location error introduced by image points matchingen_US
dc.typeConference_Paperen_US
dc.identifier.emailChesi, G:chesi@eee.hku.hken_US
dc.identifier.authorityChesi, G=rp00100en_US
dc.description.naturepublished_or_final_versionen_US
dc.identifier.doi10.1109/ROBOT.2009.5152225en_US
dc.identifier.scopuseid_2-s2.0-70350366618en_US
dc.identifier.hkuros156200-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-70350366618&selection=ref&src=s&origin=recordpageen_US
dc.identifier.spage695en_US
dc.identifier.epage700en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.scopusauthoridYung, HL=35172434900en_US

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