Gradient-based method and template matching method: comment on 'precise planar positioning method using visual servoing based on coarse optical flow'

摘要

This paper comments on the research of Mitsuda et al. [1] based on Gomi's experiment [2]. Mitsuda et al. guided a manipulator using optical flows by the gradient-based method and a hierarchical data structure. Gomi solved stereo correspondenceproblems with the templete matching method hy 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.