Resolution vs. tracking error: zoom as a gain controller

  title={Resolution vs. tracking error: zoom as a gain controller},
  author={Ben Tordoff and David W. Murray},
During tracking, lens zoom acts as a gain between scene dynamics and fixation errors, providing a trade-off between maximising resolution and minimising tracking error. Using a linear Kalman filter model, it is shown that when image measurement error scales with focal length, the filter is invariant to zoom. When the error is of fixed size, however, zooming alters the balance between process and measurement errors in a counter-intuitive manner. It is shown that this balance can be restored by… CONTINUE READING
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