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Although the estimation error of the image may influence the clustering accuracy at each iteration, the minimization of Equation 8 also makes such influence minimal and the proposed approach converges after a few iterations.
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With a full consideration of dynamic responses of the robot manipulator, the convergence of the image errors on the image plane to zero was proved by the Lyapunov method.
In all cases, the RMS wavefront error of the images was from 0.02 to 0.03 µm, indicating diffraction-limited imaging.
g Relative root-mean-square error of the images in (b f) relative to (a).
This process assumes an initial set of camera parameters and calculates the reprojection error of the images coordinates onto 3D space.
The graphs show how many images are aligned with an error lower than a certain amount and therefore give insight in the distribution of the ISM error for the image data set.
The resulting estimation error was then found by Eq. (A6): By computing the covariance matrix of the least squares estimate [ Eq. (A7)] and the estimation error of the harmonic image matrix [ Eq. (A8)], the covariance matrix of the noiseless harmonic image matrix θ was found [ Eq. (A9)].
The measurement errors of the images are analyzed.
The first term is the reconstruction error of the original image patch.
Also data analysis shows that the error of the reconstructed image can be 50 60% smaller by the new method than a traditional sensor of the equal number of the electrodes.
In other words, the circles of the capitellum and trochlea can overlap, while there is still unwitnessed rotational error of the lateral image in the transverse plane, as previously demonstrated in a study by Bottlang et al. [11].
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com