A performance criterion for the depth estimation of a robot visual control system

Abstract

In this paper we propose a performance criterion for the depth estimation of an active vision system. It is well-known. that the linear velocity of the. camera. must satisfy sonic constraints for a success of the depth, estimation, However, thr-se constraints cannot ensure a good convergence performance of the depth estimation. Our Criterion is an extension from an estimation result of a linear system. Furthermore, we use it to develop a new visual servo control scheme that has good performance in both the depth estimation and the visual control. Finally, experiments and simulation results of a visual application verify our proposition.