Paper Info
Title
Robustness of image-based visual servoing with respect to depth distribution errors
Abstract
This paper concerns the stability analysis of image-based visual servoing methods with respect to un- certainties on the depths of the observed object. In the recent past, research on image-based visual servoing has been concentrated on potential problems of stability and on robustness with respect to camera calibration errors. Only little attention, if any, has been devoted to the robustness of image-based visual servoing to depth estimation errors. It is generally believed that a rough approximation of the depth distribution is sufficient to ensure the stability of the control law. In this paper, we prove that the robustness domain is not so wide and that an extreme care must be taken when approximating the depth distribution. I. INTRODUCTION
Year
DOI
Venue
2003
10.1109/ROBOT.2003.1241732
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference
Keywords
Field
DocType
calibration,error statistics,image motion analysis,image sensors,robust control,camera calibration errors,depth distribution error,estimation errors,image-based visual servoing robustness,observed object depth uncertainties,stability analysis
Computer vision,Image sensor,Control theory,Image based,Robustness (computer science),Control engineering,Camera resectioning,Visual servoing,Artificial intelligence,Robust control,Calibration,Mathematics
Conference
Volume
Issue
ISSN
1
1
1050-4729
ISBN
Citations 
PageRank 
0-7803-7736-2
48
2.30
References 
Authors
12
2
Name
Order
Citations
PageRank
Ezio Malis1132280.65
Patrick Rives225417.77