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In-Depth Information
Image plane
Image errors
0.5
ε
u
1
ε
u
2
ε
u
3
ε
u
4
0.3
0
0.2
0.1
−0.5
2
4
6
8
10
12
14
16
18
20
Seconds
0
0.5
−0.1
ε
v
1
ε
v
2
ε
−0.2
v
3
0
ε
v
4
−0.3
−0.5
−0.3
−0.2
−0.1
0
0.1
0.2
0.3
2
4
6
8
10
12
14
16
18
20
u
Seconds
Camera pose errors
Control
3
ε
T
x
(m)
ε
T
y
(m)
ε
T
z
(m)
ε
W
x
(rad)
ε
W
y
(rad)
ε
W
z
(rad)
0.25
Tx (m/s)
Ty (m/s)
Tz (m/s)
Wx (rad/s)
Wy (rad/s)
Wz (rad/s)
0.2
2
0.15
0.1
1
0.05
0
0
−0.05
−1
−0.1
−0.15
−2
−0.2
−0.25
−3
2
4
6
8
10
12
14
16
18
20
2
4
6
8
10
12
14
16
18
20
Seconds
Seconds
Fig. 20.10
π rotation around optical axis: VPC
LM
with
N
p
= 20,
Q
(
j
)=
Q
TV
Image plane
Image errors
0.4
0.3
ε
u
1
ε
u
2
ε
u
3
ε
u
4
0.2
0.2
0
−0.2
0.1
−0.4
1
2
3
4
5
6
7
8
9
10
Seconds
0
0.4
ε
v
1
ε
v
2
ε
v
3
ε
v
4
−0.1
0.2
0
−0.2
−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
0.25
0
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)
0.1
−0.4
0.05
−0.6
0
−0.8
−0.05
−0.1
−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. 20.11
Case 1: VPC
LM
with
N
p
= 10,
Q
(
j
)=
I
and visibility constraint
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