Camera modelling for visual servo control applications

When designing a visual servo system, it is important to have a complete and accurate model of the imaging process. Unmodelled imaging dynamics may play an important role in the stability and performance of such systems. In this paper, we present a detailed camera model which can be used in the design and analysis of visual servo systems. the free-standing acrobot as a testbed, we analyze the effects of unmodelled imaging dynamics on visual servo control systems. We show that certain camera parameters strongly influence the performance of this system, and that accurate modeling is necessary for proper selection of imaging hardware.