Saturation in active vision systems and its effects on tracking performance
Ulf M. Cahn von Seelen, Ruzena K. Bajcsy · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1998
Linear models are a popular tool to characterize the performance of active vision systems. They cannot, however, capture the nonlinear limits of the system performance that arise out of the physical limitations of the real system. We examine how the finite field of view and the limited motor torque impose bounds on the linear operation of an active vision system in a fixation task. We derive the bounds by analyzing a real active vision system and measuring its response to repeatable and controllable target motions generated by a robot arm. The knowledge of the operational bounds can guide us in deciding which aspects of the active vision system to improve for better overall performance.