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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.

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