双目免标定视觉伺服系统  

Binocular Calibration-Free Vision Servo System

作　　者：刘楚天 陈晓瀚 胡嘉成 LIU Chu-tian;CHEN Xiao-han;HU Jia-cheng(School of Electromechanical Engineering,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《机械工程与自动化》2023年第6期52-54,57,共4页Mechanical Engineering & Automation

摘　　要：为了解决免标定视觉伺服系统需要多个目标特征的问题,提出了一种双目免标定视觉伺服系统。利用模块化的思想结合多线程的方式对系统整体进行了设计,使用卡尔曼滤波对系统的图像雅克比矩阵进行估计,并设计了合适的视觉伺服控制器。最后通过定位实验验证了本系统的可行性。In order to solve the problem that a calibration-free visual servo system requires multiple target features,a binocular calibration-free visual servo system is proposed in this paper.The system as a whole is designed using the modular idea combined with multi-threading,the image Jacobi matrix of the system is estimated using Kalman filtering,and a suitable visual servo controller is designed.Finally,the feasibility of this system was verified by positioning experiments.

关 键 词：免标定视觉伺服 图像 卡尔曼滤波 控制器 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]