基于活动轮廓的机器人视觉伺服控制  

Robotic Visual Servo Control Based on Active contour

作　　者：夏利民[1] 谷士文[1] 罗大庸[1] 樊晓平[1] 

机构地区：[1]长沙铁道学院电子工程系,湖南长沙410075

出　　处：《国防科技大学学报》2000年第1期60-64,共5页Journal of National University of Defense Technology

基　　金：国家自然科学基金资助项目! (6 9975 0 0 3);湖南省自然科学基金资助项目! (98JJY2 0 44 )

摘　　要：提出了基于活动轮廓的视觉伺服控制方法。将活动轮廓和光流模型相结合用于运动物体图像的实时跟踪 ,以抽取物体图像的边缘信息 ,并以此信息控制摄像机的运动 ,达到机器人定位、跟踪等目的。该方法跟踪精度高 ,鲁棒性好 ,且满足实时跟踪的要求。实验结果表明了该方法的正确性和有效性。A robotic visual servo control based on active contour is presented, which combines the active contour with the image optical flow for tracking image contours related to the object of interest. The active contour provides the position information of the object to control movement of the camera. For accomplishing the robotics tasks such as positioning and tracking,by using the proposed method the real time constraints as well as the requirements of accuracy and robustness are fulfilled. To verify the potential of our approach,we carried out several experiments.

关 键 词：视觉伺服控制 活动轮廓 机器人 物体跟踪 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]