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19 February 1988 Accuracy Of Position Estimation By Centroid
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Proceedings Volume 0848, Intelligent Robots and Computer Vision VI; (1988)
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States
The problem of locating an object in noisy optical sensor data has arisen in many applications. The object location normally coincides with the center of a two-dimensional blur, when there is no noise. Thus one intuitively appealing estimate of the object location is the centroid of the area in which intensities of pixels exceed a certain threshold. Before the centroid is computed, the intensity data have usually undergone a series of signal processing steps. Errors are introduced in signal processing through sampling, non-uniform responses among scanning detectors, read-out noise, and quantization. In this paper, we evaluate the accuracy of using the centroid to estimate the object position. We report simulated accuracy as a function of design parameters such as sampling rate, noise variance, quantizer resolution, and signal-to-noise ratio. We also report the derivation of probability density function of the centroid assuming additive Gaussian white noise.
© (1988) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Tung-Chiang Deng and Trudy L. Bergen "Accuracy Of Position Estimation By Centroid", Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988);


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