勾配法とテンプレート・マッチング法: 「粗いオプティカルフローを用いた高精度な位置決めビジュアルサーボ」に対するコメント

抄録

This paper comments on the research of Mitsuda et al. [1] based on Gomi's experiment [2] . Mitsuda et all guided a manipulator using optical flows by the gradient-based method and a hierarchical data structure. Gomi solved stereo correspondence problems with the templete matching method by directing two cameras to the same point. The detectable ranges of translation and rotation in the experiments of Mitsuda et al. and Gomi are nearly equal although different algorithms are used. This paper also discusses the effect of linejitter on positioning accuracy and the constraint equation of the gradient-based method.