一种基于图象的无标定视觉伺服方法的研究  

An Image-based calibration free visual servoing method

作　　者：郭振民[1] 陈善本[2] 吴林[1] 

机构地区：[1]哈尔滨工业大学现代焊接技术国家重点实验室,黑龙江哈尔滨150001 [2]上海交通大学焊接技术研究所,上海200030

出　　处：《哈尔滨工业大学学报》2002年第3期294-296,共3页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金重点资助项目 (5 963 5 160 )

摘　　要：采用基于图象的视觉伺服方法 ,绕过了 3D空间的重建 ,直接利用图象特征来控制机器人的运动 给出了一种基于图象的无标定的视觉伺服控制方法 ,通过动态估算图象雅可比矩阵来代替实际的雅可比矩阵 ,消除了工业应用中标定的繁琐和由此引起的误差 。In a position based visual servo control system,a serial of properties extracted from image are used to estimate the relative position between target and camera.The nonlinear imaging process makes the visual reconstruction difficult.An image-based visual servo that bypassed 3D space reconstruction and made use of image properties to control robotic motion.Image Jacobian provides a crucial contribution in the image based visual servoing control.To work out the robotic end effecter motion to targer,it is necessary to calibrate robot, camera and the relation between them.The image based visual calibraton-free servo control dynamically estimates the image Jacobian to replace actual image Jacobian. This method eliminated the tedious and error prone calibration in industrial applications,and especially avoided the difficulty of visual reconstruction that brought about by the nonlinear imaging process and image matching in the position based visual servoing control method.

关 键 词：视觉伺服 图象雅可比矩阵 动态估算 无标定 控制方法 计算机视觉 图像处理 机器人 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]