Related Experiment Video
Updated: Jul 14, 2026
11:57
Measuring Spatially- and Directionally-varying Light Scattering from Biological Material
Published on: May 20, 2013
Image noise induced errors in camera positioning
1Department of Electrical and Electronic Engineering, University of Hong Kong, Pokfulam Road, Hong Kong. chesi@eee.hku.hk
Summary
This study addresses camera positioning errors from unknown-but-bounded image noise. Convex optimization methods are used to find upper bounds for rotation and translation errors, enabling robust visual servo system design.
Area of Science:
- Robotics
- Computer Vision
- Control Systems
Background:
- Evaluating camera positioning error is crucial for robotic systems.
- Unknown-but-bounded (UBB) image noise poses challenges in accurate pose estimation.
- Existing methods often provide lower bounds, limiting robust system design.
Purpose of the Study:
- To develop a method for evaluating worst-case camera positioning error under UBB image noise.
- To obtain upper bounds on rotation and translation errors for robust visual servoing.
- To utilize convex optimization for error bound calculation.
Main Methods:
- Formulating the camera positioning error evaluation as an optimization problem.
- Applying convex optimization techniques to derive upper bounds for rotation and translation errors.
- Analyzing the impact of image noise intensity on error bounds.
Main Results:
- Successfully derived upper bounds for worst-case camera positioning error.
- Demonstrated that these upper bounds can be obtained via convex optimization.
- Showcased the utility of these upper bounds for designing robust visual servo systems.
Conclusions:
- Convex optimization provides a viable approach to determine worst-case error bounds for camera positioning under UBB noise.
- The derived upper bounds are essential for the development of reliable and robust visual servo systems.
- This work advances the field of visual servoing by offering a method to quantify and mitigate noise-induced errors.
More Related Videos
Related Concept Videos
01:26Errors in Global Positioning System
Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
01:17Common Leveling Mistakes and Errors
A survey team is tasked with determining the elevation difference between points Point A and Point B, separated by uneven terrain. They use a leveling instrument and a leveling rod.Common MistakesMisreading the Rod: During a backsight reading at Point A, the instrumentman observes the rod partially obscured by tall grass. Instead of reading 1.135 m, they mistakenly record 1.735 m due to the misalignment of the crosshair with the wrong graduation. This error adds 0.600 m to all subsequent...
01:20Random and Systematic Errors
Scientists always try their best to record measurements with the utmost accuracy and precision. However, sometimes errors do occur. These errors can be random or systematic. Random errors are observed due to the inconsistency or fluctuation in the measurement process, or variations in the quantity itself that is being measured. Such errors fluctuate from being greater than or less than the true value in repeated measurements. Consider a scientist measuring the length of an earthworm using a...
03:37Uncertainty in Measurement: Accuracy and Precision
Scientists typically make repeated measurements of a quantity to ensure the quality of their findings and to evaluate both the precision and the accuracy of their results. Measurements are said to be precise if they yield very similar results when repeated in the same manner. A measurement is considered accurate if it yields a result that is very close to the true or the accepted value. Precise values agree with each other; accurate values agree with a true value.
01:18Errors in Taping
Errors in taping arise from multiple factors that can significantly impact measurement accuracy in surveying. Misalignment of the tape, often due to human error, is one primary source. A skilled rear tapeman, using a telescope, can help correct alignment by guiding the head tapeman; however, human limitations still lead to small inaccuracies. These errors may include misplacement of pins or inaccurate tape readings due to common visual confusions, such as mistaking a six for a nine. Such...
01:12Types of Errors: Detection and Minimization
Error is the deviation of the obtained result from the true, expected value or the estimated central value. Errors are expressed in absolute or relative terms.
Absolute error in a measurement is the numerical difference from the true or central value. Relative error is the ratio between absolute error and the true or central value, expressed as a percentage.
Errors can be classified by source, magnitude, and sign. There are three types of errors: systematic, random, and gross.
Systematic or...
Absolute error in a measurement is the numerical difference from the true or central value. Relative error is the ratio between absolute error and the true or central value, expressed as a percentage.
Errors can be classified by source, magnitude, and sign. There are three types of errors: systematic, random, and gross.
Systematic or...