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Image plane
Image errors
0.4
ε u 1
ε u 2
ε u 3
ε u 4
0.3
0.2
0
0.2
−0.2
0.1
−0.4
1
2
3
4
5
6
7
8
9
10
Seconds
0
0.4
−0.1
ε v 1
ε v 2
ε
0.2
v 3
−0.2
0
ε
v 4
−0.2
−0.3
−0.4
−0.3
−0.2
−0.1
0
0.1
0.2
0.3
1
2
3
4
5
6
7
8
9
10
u
Seconds
Camera pose errors
Control
0
0.25
Tx (m/s)
Ty (m/s)
Tz (m/s)
Wx (rad/s)
Wy (rad/s)
Wz (rad/s)
0.2
−0.2
0.15
ε T x (m)
ε T y (m)
ε T z (m)
ε
−0.4
0.1
−0.6
0.05
W x (rad)
ε W y (rad)
ε W z (rad)
0
−0.8
−0.05
−1
−0.1
−0.15
−1.2
−0.2
−1.4
−0.25
−1.6
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
9
10
Seconds
Seconds
Fig. 20.8
Case 1: VPC LM with N p = 20, Q ( j )= I
Image plane
Image errors
0.4
ε u 1
ε
u 2
ε u 3
ε u 4
0.3
0.2
0
0.2
−0.2
0.1
−0.4
1
2
3
4
5
6
7
8
9
10
0
Seconds
0.4
v 1
ε v 2
ε v 3
ε v 4
−0.1
ε
0.2
−0.2
0
−0.2
−0.3
−0.4
−0.3
−0.2
−0.1
0
0.1
0.2
0.3
1
2
3
4
5
6
7
8
9
10
u
Seconds
Camera pose errors
Control
0
0.25
Tx (m/s)
Ty (m/s)
Tz (m/s)
Wx (rad/s)
Wy (rad/s)
Wz (rad/s)
−0.2
0.2
0.15
ε
T x (m)
ε T y (m)
ε T z (m)
ε W x (rad)
ε
W y (rad)
ε W z (rad)
−0.4
0.1
−0.6
0.05
0
−0.8
−0.05
−1
−0.1
−0.15
−1.2
−0.2
−1.4
−0.25
−1.6
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
9
10
Seconds
Seconds
Fig. 20.9
Case 1: VPC LM with N p = 10, Q ( j )= Q TV
 
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