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Article: Effects of camera calibration errors on static-eye and hand-eye visual servoing

TitleEffects of camera calibration errors on static-eye and hand-eye visual servoing
Authors
Chesi, GHashimoto, K
KeywordsPosition/Image-Based
Robustness
Static/Hand-Eye
Visual Servoing
Issue Date2003
PublisherV S P. The Journal's web site is located at http://www.brill.nl/default.aspx?partid=18&pid=9713
Citation
Advanced Robotics, 2003, v. 17 n. 10, p. 1023-1039 How to Cite?
DOI: http://dx.doi.org/10.1163/156855303322554409
AbstractEffects of camera calibration errors for the point-to-point task are investigated in static-eye and hand-eye visual servoing realized with position-based and image-based control laws. For these four configurations, the effect of uncertainty on intrinsic and extrinsic parameters is analyzed. The results show local stability for all configurations under small calibration errors. However, a steady-state error is found in the hand-eye position-based configuration. Simulations have been carried out in order to confirm the theoretical results and evaluate the effects of the uncertainty in terms of the stability region. Another contribution of the paper consists of providing a method for estimating the stability region robust against uncertainty directions for the static-eye position-based case with uncertainty on the camera centers.
Persistent Identifierhttp://hdl.handle.net/10722/155231
ISSN
0169-1864
2021 Impact Factor: 2.057
2020 SCImago Journal Rankings: 0.466
ISI Accession Number ID
WOS:000187412800004
References
References in Scopus

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.contributor.authorHashimoto, Ken_US
dc.date.accessioned2012-08-08T08:32:27Z-
dc.date.available2012-08-08T08:32:27Z-
dc.date.issued2003en_US
dc.identifier.citationAdvanced Robotics, 2003, v. 17 n. 10, p. 1023-1039en_US
dc.identifier.issn0169-1864en_US
dc.identifier.urihttp://hdl.handle.net/10722/155231-
dc.description.abstractEffects of camera calibration errors for the point-to-point task are investigated in static-eye and hand-eye visual servoing realized with position-based and image-based control laws. For these four configurations, the effect of uncertainty on intrinsic and extrinsic parameters is analyzed. The results show local stability for all configurations under small calibration errors. However, a steady-state error is found in the hand-eye position-based configuration. Simulations have been carried out in order to confirm the theoretical results and evaluate the effects of the uncertainty in terms of the stability region. Another contribution of the paper consists of providing a method for estimating the stability region robust against uncertainty directions for the static-eye position-based case with uncertainty on the camera centers.en_US
dc.languageengen_US
dc.publisherV S P. The Journal's web site is located at http://www.brill.nl/default.aspx?partid=18&pid=9713en_US
dc.relation.ispartofAdvanced Roboticsen_US
dc.subjectPosition/Image-Baseden_US
dc.subjectRobustnessen_US
dc.subjectStatic/Hand-Eyeen_US
dc.subjectVisual Servoingen_US
dc.titleEffects of camera calibration errors on static-eye and hand-eye visual servoingen_US
dc.typeArticleen_US
dc.identifier.emailChesi, G:chesi@eee.hku.hken_US
dc.identifier.authorityChesi, G=rp00100en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.1163/156855303322554409en_US
dc.identifier.scopuseid_2-s2.0-0346331365en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0346331365&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume17en_US
dc.identifier.issue10en_US
dc.identifier.spage1023en_US
dc.identifier.epage1039en_US
dc.identifier.isiWOS:000187412800004-
dc.publisher.placeNetherlandsen_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.scopusauthoridHashimoto, K=35431244800en_US
dc.identifier.issnl0169-1864-

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