单目视觉伺服研究综述  

A Tutorial for Monocular Visual Servoing

作　　者：徐德[1,2] XU De(Research Center of Precision Sensing and Control,Institute of Automation,Chinese Academy of Sciences,Beijing 100190;School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 101408)

机构地区：[1]中国科学院自动化研究所精密感知与控制研究中心,北京100190 [2]中国科学院大学人工智能学院,北京101408

出　　处：《自动化学报》2018年第10期1729-1746,共18页Acta Automatica Sinica

基　　金：科学挑战专题(TZ2018006-0204-02);国家自然科学基金(61733004)资助~~

摘　　要：视觉伺服是机器人视觉领域的研究热点之一,具有十分广泛的应用前景.本文针对单目视觉系统,从视觉伺服的运动映射关系、误差表征、控制律设计、关键影响因素等多个层面,对视觉伺服的研究现状进行了论述,并分析了不同视觉伺服方法的特点,给出了视觉伺服在不同领域的典型应用.最后,指出了视觉伺服未来的主要发展方向.Visual servoing is an important focus in the field of robot vision, which has a wide application area. This paper mainly discusses monocular visual servoing methods. It introduces different visual servoing methods and analyzes their characteristics from aspects such as motion mapping from features, errors representation, control law design, and key influence factors. Typical applications in different fields are given. Finally, the development tendency in future is predicted as well.

关 键 词：交互矩阵 单应性矩阵 极线几何 特征选择 控制律设计 单目视觉 视觉伺服 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]