利用平面反射系统实现直线视觉伺服

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI:10.1109/IROS.2017.8206127

É. Marchand, B. Fasquelle

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引用次数: 1

摘要

在本文中，我们提出了一个完整的方案来控制一个镜子，使用视觉伺服方案，利用线作为一组视觉特征。考虑到镜面上直线反射的投影方程，介绍了利用视觉信息控制镜面的理论背景。利用安装在6自由度机器人末端执行器上的反射镜进行了实验，验证了该方法的有效性。

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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Visual servoing from lines using a planar catadioptric system

In this paper, we propose a complete scheme to control a mirror, using a visual servoing scheme, using lines as a set of visual features. Considering the equations of the projection of the reflection of a lines on a mirror, this paper introduces the theoretical background that allows to control the mirror using visual information. Experiments using a mirror mounted on the end-effector of a 6 d.o.f robot validate the proposed approach.

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2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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