TY - JOUR
T1 - Modeling and compensation of dynamic effects in camera-based position measurement
AU - Laroche, Edouard
AU - Kagami, Shingo
AU - Cuvillon, Loïc
N1 - Funding Information:
This work has been supported by CNRS and JST through the project “Information Processing and Control for Robotized Endoscopic Surgery” form the Strategic Japanese–French Cooperative Program on “Information and Communications Technology including Computer Science”, 2007–2008.
PY - 2014/8
Y1 - 2014/8
N2 - Cameras are used as position sensors for camera-based control or metrology, the goal being to estimate the position of some markers or features. When one of these markers has significant displacement over the exposure time, the measurement delivered by image processing cannot be considered as a sample of the actual trajectory as dynamic effects become effective. In this paper, models are proposed that allow to reproduce accurately the measurements provided by a camera. Various cases are considered: with full or partial exposure time; with global shutter mode or rolling shutter mode. An experimental evaluation in the global shutter case shows the accuracies of the models. When the continuous-time trajectory of a device needs to be reconstructed, these accurate models of the camera-based position measurement can be used in order to improve the trajectory provided by the camera. A methodology based on a hybrid Kalman filter is proposed to solve this general issue. An experimental evaluation is provided for the global shutter case, based on real images inspired from the problem of heart motion reconstruction.
AB - Cameras are used as position sensors for camera-based control or metrology, the goal being to estimate the position of some markers or features. When one of these markers has significant displacement over the exposure time, the measurement delivered by image processing cannot be considered as a sample of the actual trajectory as dynamic effects become effective. In this paper, models are proposed that allow to reproduce accurately the measurements provided by a camera. Various cases are considered: with full or partial exposure time; with global shutter mode or rolling shutter mode. An experimental evaluation in the global shutter case shows the accuracies of the models. When the continuous-time trajectory of a device needs to be reconstructed, these accurate models of the camera-based position measurement can be used in order to improve the trajectory provided by the camera. A methodology based on a hybrid Kalman filter is proposed to solve this general issue. An experimental evaluation is provided for the global shutter case, based on real images inspired from the problem of heart motion reconstruction.
KW - Camera model
KW - Camera-based position measurement
KW - Dynamic effects
KW - Kalman filter
KW - Visual servoing
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U2 - 10.1016/j.robot.2014.04.003
DO - 10.1016/j.robot.2014.04.003
M3 - Article
AN - SCOPUS:84902197370
VL - 62
SP - 1175
EP - 1186
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
SN - 0921-8890
IS - 8
ER -