Luminance: A New Visual Feature for Visual Servoing - Visual Servoing via Advanced Numerical Methods - page 83

4e+08

3e+08

2e+08

1e+08

0

(a)

0 30 60 90 120 150 180

200 200

t t t z t t t z

150 150

100 100

50 50

0 0

-50 -50

-100 -100

-150 -150

-200 -200

0 30 60 90 120 150 180 0 40 80 120 160

(b) (c)

0 0

-4 -4

-8 u θ x -8 u θ x

u θ y u θ y

u θ z u θ z

-12 -12

-16 -16

0 30 60 90 120 150 180 0 40 80 120 160

(d) (e)

(f)

Fig. 5.9 Positioning task with the light source mounted on the camera: (a) cost function as-
suming a temporal luminance constancy model (solid line) and using an illumination model
(dashed line); (b) translation error assuming a temporal luminance constancy model (in mm);
(c) translation error using an illumination model (in mm); (d) rotation error assuming a tem-
poral luminance constancy model (in deg); (e) rotation error using an illumination model (in
deg); and (f) images acquired during the positioning task (left) and I − I ∗ (right)