Empirical Characterization of Convergence Properties for Kernel-based Visual Servoing - Visual Servoing via Advanced Numerical Methods - page 32

0.2

0.15

0.1

0.05

0

−0.05

−0.1

−0.15

−0.2

−0.2 −0.15 −0.1 −0.05 0 0.05 0.1 0.15 0.2

Fig. 2.7 Convergence results for the 50 trials of 2D translations orthogonal to the optical axis

Ta b l e 2 . 1 Error measurements for the fifty 2D experiments

Average Error σ Error Max Error Min Error

0 . 2472 mm 1 . 0527 mm 4 . 989 × 10 − 3

x 0 . 3347 mm mm

0 . 5792 mm 2 . 4527 mm 9 . 6609 × 10 − 3 y 0 . 6857 mm mm

x 2 + y 2 0

10 − 3

. . . . ×

9439 mm 0 5267 mm 2 4598 mm 89 5382 mm

0.15

0.1

0.05

0

−0.05

−0.1

−0.15

0 2 4 6 8 10

time (sec)

Fig. 2.8 Convergence results for the 50 trials of translation parallel to the optical axis