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4e+08
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(a)
(b)
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(c)
(d)
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(g)
(h)
Fig. 5.4
Second experiment. Same positioning task with respect to various objects. Objects
considered (left column) and cost functions (right column) (
x
axis in seconds)
5.4.1.2
Influence of the Image Content
The goal of the next experiment is to show that, even if the luminance is used as a
visual feature, our approach does not depend too much on the texture of the scene
being observed. Figure 5.4 depicts the behavior of our algorithm for the planar
objects respectively shown on Figures 5.4(a,c,e,g) (the initial as well as the de-
sired pose is unchanged). As it can be seen, the control law converges in each case,
even in the case of a low textured scene (Figures 5.4(a-c)). Let us point out that
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