面向三维无标定单目视觉伺服

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.680748

Bradley E. Bishop, M. Spong

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引用次数: 4

摘要

这项工作是将控制理论与计算机视觉相结合的第一步，用于未校准的单目(或单相机)三维操作。我们研究了一个可实现的控制目标，使用一种新的图像测量方法，并推导了一个采样数据控制系统，该系统可以使末端执行器轨迹快速收敛到相机坐标帧中的深度不变速度子空间。我们还讨论了如何使用这种未校准行为来执行在线校准。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Toward 3D uncalibrated monocular visual servo

This work is an initial step toward combining control theory with computer vision for the case of uncalibrated monocular (or single-camera) three-dimensional manipulation. We investigate an achievable control goal using a novel image measure and derive a sampled-data control system that results in quick convergence of the end-effector trajectory to a depth-invariant velocity subspace in the camera coordinate frame. We also discuss how this uncalibrated behavior can be used to perform online calibration.

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来源期刊

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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