A performance criterion for the depth estimation of a robot visual control system

C. J. Fang*, Shir-Kuan Lin

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

3 Scopus citations

Abstract

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.

Original languageEnglish
Pages (from-to)1201-1206
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
DOIs
StatePublished - 1 Jan 2001
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 21 May 200126 May 2001

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