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Fig. 5.6
The nonplanar scene
4e+08
3e+08
2e+08
1e+08
0
0
10
20
30
40
(a)
(b)
(c)
100
0
50
0
-4
-50
-8
u
θ
x
u
-100
t
t
t
z
θ
y
u
θ
z
-12
-150
-200
-16
-250
0
10
20
30
40
0
10
20
30
40
(d)
(e)
Fig. 5.7
Fourth experiment, robustness with respect to depths (
x
axis in seconds): (a) cost
function; (b) initial image; (c) final image; (d) translation errors (in mm); and (e) rotation
errors (in deg)
similar positioning errors than for the first experiment have been obtained. This re-
sult comes from the fact that the shape of the cost functions (5.26) does not depend
too much on the image content (as long as the image does not contain periodic pat-
terns or strong changes of the spatial gradient). It always presents narrow valleys
that our control law can cope with.
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