A general approach for sensibility analysis in visual servoing

Authors: Courdesses, M.; Cadenat, V.

Source: Advanced Robotics, Volume 21, Number 7, 2007 , pp. 829-842(14)

Buy & download fulltext article:

Price: $35.00 plus tax (Refund Policy)

Abstract:

In an experimental robotic context, it is very important to study the robustness of visual servoing control laws with respect to uncertainties that arise on the camera intrinsic and extrinsic parameters. Here we propose a general approach allowing us to analyze the sensibility of such control laws with respect to the camera parameter uncertainties. We only focus on sensibility aspects and do not address the stability analysis problem. The presented approach is validated on several examples which consider uncertainties on focal length, camera optical centers and measurement noise.

Keywords: SENSIBILITY ANALYSIS; VISUAL SERVOING; CALIBRATION ERRORS

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855307780429776

Affiliations: 1: Université P. Sabatier and LAAS-CNRS, 7 avenue du Colonel Roche, 31077 Toulouse cedex 04, France

Publication date: 2007-07-01