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场景摄像机构型下图像空间内的无标定路径规划研究

梁新武 黄心汉 王敏

梁新武, 黄心汉, 王敏. 场景摄像机构型下图像空间内的无标定路径规划研究. 自动化学报, 2013, 39(6): 759-769. doi: 10.3724/SP.J.1004.2013.00759
引用本文: 梁新武, 黄心汉, 王敏. 场景摄像机构型下图像空间内的无标定路径规划研究. 自动化学报, 2013, 39(6): 759-769. doi: 10.3724/SP.J.1004.2013.00759
LIANG Xin-Wu, HUANG Xin-Han, WANG Min. Uncalibrated Path Planning in the Image Space for the Fixed Camera Configuration. ACTA AUTOMATICA SINICA, 2013, 39(6): 759-769. doi: 10.3724/SP.J.1004.2013.00759
Citation: LIANG Xin-Wu, HUANG Xin-Han, WANG Min. Uncalibrated Path Planning in the Image Space for the Fixed Camera Configuration. ACTA AUTOMATICA SINICA, 2013, 39(6): 759-769. doi: 10.3724/SP.J.1004.2013.00759

场景摄像机构型下图像空间内的无标定路径规划研究

doi: 10.3724/SP.J.1004.2013.00759
基金项目: 

Supported by National Natural Science Foundation of China(60873032, 61105095, 61203361), Doctoral Program Foundation of Ministry of Education of China(20100142110020), the Specialized Research Fund for the Doctoral Program of Higher Education of China(20100073120020), Postdoctoral Science Foundation of China(2012M511095), Shanghai Municipal Natural Science Foundation(11ZR1418400), and Shanghai Postdoctoral Science Foundation(12R21414200)

详细信息
    通讯作者:

    梁新武

Uncalibrated Path Planning in the Image Space for the Fixed Camera Configuration

Funds: 

Supported by National Natural Science Foundation of China(60873032, 61105095, 61203361), Doctoral Program Foundation of Ministry of Education of China(20100142110020), the Specialized Research Fund for the Doctoral Program of Higher Education of China(20100073120020), Postdoctoral Science Foundation of China(2012M511095), Shanghai Municipal Natural Science Foundation(11ZR1418400), and Shanghai Postdoctoral Science Foundation(12R21414200)

More Information
    Corresponding author: LIANG Xin-Wu
  • 摘要: 基于图像的视觉伺服可用于对机械臂的运动进行有效的控制。然而,正如许多研究者指出的,当初始位置和期望位置相距较远时,此种控制策略将因其局部特性而存在收敛性、稳定性问题。通过在图像平面内定义充分的图像特征轨迹,并对这些轨迹进行跟踪,我们可以充分利用基于图像的视觉伺服所固有的局部收敛性及稳定性特性这一优势,从而避免初始位置与期望位置相距较远时所面临的问题。因此,近年来,图像空间路径规划已成为机器人领域的一个热点研究问题。但是,目前几乎所有的有关结果均是针对手眼视觉系统提出的。本文将针对场景摄像机视觉系统提出一种未标定视觉路径规划算法。此算法在射影空间中直接计算图像特征的轨迹,这样可保证它们与刚体运动一致。通过将旋转及平移运动的射影表示分解为规范化形式,我们可以很容易地对其射影空间内的路径进行插值。在此之后,图像平面中的图像特征轨迹可通过射影路径产生。通过这种方式,此算法并不需要特征点结构和摄像机内部参数的有关知识。为了验证所提算法的可行性及系统性能,本文最后给出了基于PUMA560机械臂的仿真研究结果。
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出版历程
  • 收稿日期:  2011-01-21
  • 修回日期:  2012-04-20
  • 刊出日期:  2013-06-20

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