Performance evaluation of an active vision system

Abstract

The design of active vision systems requires the integration of action and perception components and therefore involves a range of disciplines, including computer vision, control theory, and mechatronics. Assessments of the performance of the resulting system are needed at all stages of the development. This dissertation addresses the problem of finding both measures and means for evaluating the performance of an active vision system in a systematic and quantitative way. In particular, we examine the performance of a camera pan axis in a monocular fixation task. The work combines model-based analysis with experiments on a real active vision system. We start by constructing models for all components of the system and match the models with the actual hardware through calibration or system identification. For the performance evaluation experiments we built a testbed consisting of two robot manipulators that generate controllable and repeatable target motions. Several factors have been i...