|
| 论文编号: |
|
| 第一作者所在部门: |
|
| 中文论文题目: |
Partially Decoupled Image-Based Visual Servoing Using Different Sensitive Features
|
| 英文论文题目: |
Partially Decoupled Image-Based Visual Servoing Using Different Sensitive Features
|
| 论文题目英文: |
|
| 作者: |
Xu, De
|
| 论文出处: |
|
| 刊物名称: |
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
|
| 年: |
2017
|
| 卷: |
47 |
| 期: |
8 |
| 页: |
2233-2243 |
| 联系作者: |
|
| 收录类别: |
|
| 影响因子: |
|
| 摘要: |
A new image-based visual servoing method based on sensitive features is presented to separately realize the position control and orientation control. Line features are used for the orientation control because of their sensitivities to rotational motions. Point features and area size features are employed to realize the position control since area size features are very sensitive to the objects' depths. The translations resulting from rotational motions are introduced into the position control as the compensation in order to eliminate the influence of the camera's motions on the point features. The depths for all active features are estimated via interaction matrices, features variations, and the executed camera motions. The proposed method can keep the tracked objects in the camera's field of view in the visual servoing process. In addition, the determination methods of the interaction matrices for point, line, and area size features are proposed. Comparing to the traditional method, the proposed determination method of the interaction matrix for line is independent from the parameters of the plane containing the line. Experimental results verify the effectiveness of the proposed methods. |
| 英文摘要: |
|
| 外单位作者单位: |
|
| 备注: |
|
关闭窗口 |
|
