TY - GEN
T1 - On the performance of state estimation for visual servo systems
AU - Bishop, Brad
AU - Hutchinson, Seth
AU - Spong, Mark
PY - 1994
Y1 - 1994
N2 - 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 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.
AB - 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 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.
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M3 - Conference contribution
AN - SCOPUS:0027982762
SN - 0818653329
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 168
EP - 173
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings of the 1994 IEEE International Conference on Robotics and Automation
Y2 - 8 May 1994 through 13 May 1994
ER -