A Study of Virtual Visual Servoing Sensitivity in the Context of Image/GIS Registration for Urban Environments
Résumé
This paper studies the sensitivity of pose estima- tion to the 2D measure noise when using virtual visual servoing. Attempting to apply virtual visual servoing to image/Geographic Information System (GIS) reg- istration, the robustness to the noise in images is an important factor to the accuracy of estimation. To an- alyze the impact of different levels of noise, a series of image/GIS registration tests based on synthetic in- put image are studied. Also, RANSAC is introduced to improve the robustness of the method. We also com- pare some different strategies in choosing geometrical features and in the treatment of projection error vec- tor in virtual visual servoing, providing a guide for parametrization.