On the performance of state estimation for visual servo systems

Brad Bishop, Seth Andrew Hutchinson, Mark Spong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 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.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages168-173
Number of pages6
Editionpt 1
ISBN (Print)0818653329
StatePublished - Jan 1 1994
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: May 8 1994May 13 1994

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 1
ISSN (Print)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA
Period5/8/945/13/94

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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