Quaternion-based visual servo control in the presence of camera calibration error

One important issue that has limited the robustness of vision-based control systems is a dependence on exact camera calibration to relate the image-space to the Euclidean-space. If the calibration is not exactly known, then performance degradation and potential unpredictable response from the system may occur. The focus of this paper is the development of a quaternion-based camera rotation estimate that is related to the actual rotation error computed from a homography that relates corresponding images, the development of a new closed-loop error system, and a new Lyapunov-based analysis that demonstrates the stability of the quaternion error system.