In this paper we propose a performance criterion for the depth estimation of an active vision system. It is well-known that the linear velocity of the camera must satisfy some constraints for a success of the depth estimation. However, these constraints cannot ensure a good convergence performance of the depth estimation. Our criterion is an extension from an estimation result of a linear system. Furthermore, we use it to develop a new visual servo control scheme that has good performance in both the depth estimation and the visual control. Finally, experiments and simulation results of a visual application verify our proposition.
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|State||Published - 1 Jan 2001|
|Event||2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of|
Duration: 21 May 2001 → 26 May 2001