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Image noise induced errors in camera positioning.

Graziano Chesi1, Y S Hung

  • 1Department of Electrical and Electronic Engineering, University of Hong Kong, Pokfulam Road, Hong Kong. chesi@eee.hku.hk

IEEE Transactions on Pattern Analysis and Machine Intelligence
|June 15, 2007
PubMed
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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.

Related Experiment Videos

  • 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.