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Image Noise Induced Errors in Camera Positioning

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2 Author(s)
Chesi, G. ; Univ.of Hong Kong, Hong Kong ; Hung, Y.S.

The problem of evaluating worst-case camera positioning error induced by unknown-but-bounded (UBB) image noise for a given object-camera configuration is considered. Specifically, it is shown that upper bounds to the rotation and translation worst-case error for a certain image noise intensity can be obtained through convex optimizations. These upper bounds, contrary to lower bounds provided by standard optimization tools, allow one to design robust visual servo systems.

Published in:

Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:29 ,  Issue: 8 )

Date of Publication:

Aug. 2007

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