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

fYear

1994

fDate

8-13 May 1994

Firstpage

168

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.350993

Filename

350993