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Image plane
Image errors
ε u 1
ε u 2
ε u 3
ε u 4
0.2
0.4
0.1
0.3
0
0.2
−0.1
0.1
1
2
3
4
5
6
7
8
9
10
Seconds
0
0.6
−0.1
ε v 1
ε v 2
ε
0.4
−0.2
0.2
v 3
−0.3
0
ε
v 4
−0.4
−0.2
−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
ε
T x (m)
ε T y (m)
ε T z (m)
ε W x (rad)
ε W y (rad)
ε W z (rad)
1
0.25
Tx (m/s)
Ty (m/s)
Tz (m/s)
Wx (rad/s)
Wy (rad/s)
Wz (rad/s)
0.8
0.2
0.6
0.15
0.1
0.4
0.05
0.2
0
0
−0.05
−0.2
−0.1
−0.4
−0.15
−0.6
−0.2
−0.8
−0.25
−1
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
9
10
Seconds
Seconds
Fig. 20.15
Case 2: VPC GM with N p = 10, Q ( j )= I
Image plane
Image errors
ε u 1
ε u 2
ε u 3
ε u 4
0.4
0.2
0.1
0.3
0
0.2
−0.1
0.1
1
2
3
4
5
6
7
8
9
10
Seconds
0
0.6
−0.1
ε v 1
ε v 2
ε v 3
ε v 4
0.4
−0.2
0.2
−0.3
0
−0.4
−0.2
−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
1
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
0.8
Tx (m/s)
Ty (m/s)
Tz (m/s)
Wx (rad/s)
Wy (rad/s)
Wz (rad/s)
0.2
0.6
0.15
0.4
0.1
0.05
0.2
0
0
−0.05
−0.2
−0.1
−0.4
−0.15
−0.6
−0.2
−0.8
−0.25
−1
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
9
10
Seconds
Seconds
Fig. 20.16
Case 2: VPC GM with N p = 10, Q ( j )= I and visibility constraint
 
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