Determination for Interactive Matrix of Line Feature
-
摘要: 直线特征在视觉跟踪、视觉伺服中具有重要作用, 但目前的直线交互矩阵的求取受到制约, 需要已知含有直线的平面在摄像机坐标系中的方程参数. 为摆脱含有直线的平面参数的约束, 本文利用两点的极坐标推导出直线的交互矩阵, 并给出直线交互矩阵求取方法. 经分析得知, 对于与摄像机光轴接近垂直的直线, 其在成像平面上的角度变化主要受摄像机姿态变化的影响, 对摄像机的位置变化不敏感. 对于与摄像机光轴平行的直线, 其在成像平面上的角度变化受摄像机旋转以及垂直于光轴平移 的影响较大. 实验结果验证了本文方法的有效性.Abstract: Line features are very important for visual tracking and visual servoing. However, determination of the interactive matrix of line feature is possible only if the parameters of the plane containing the line are known in the camera's coordinates. In this paper, the interactive matrix of line feature is derived with two points' polar coordinates in order to avoid the parameters requirement for the plane containing the line. Then determination for interactive matrix of line feature is presented. Analysis of the interactive matrix shows that the angle's variation of line feature is mainly influenced by the orientation's variation of the camera and insensitive to translations of camera if the line is almost perpendicular to the camera's optical axis. The angle's variation of line feature for the line parallel to the optical axis is apparently influenced by the camera's translations vertical to the optical axis and rotations. Experimental results verify the effectiveness of the proposed method.
-
Key words:
- Interactive matrix /
- line feature /
- visual servoing /
- visual tracking /
- visual control
-
[1] Lepetit V, Fua P. Monocular model-based 3D tracking of rigid objects: a survey. Foundations and Trends in Computer Graphics and Vision, 2005, 1(1): 1-89 [2] Mooser J, You S, Neumann U, Wang Q. Applying robust structure from motion to markerless augmented reality. In: Proceedings of the 2009 IEEE Workshop on Applications of Computer Vision. Snowbird, Utah, USA: IEEE, 2009. 1-8 [3] Liu Y H, Wang H S. An adaptive controller for image-based visual servoing of robot manipulators. In: Proceedings of the 8th World Congress on Intelligent Control and Automation (WCICA). Jinan, China: IEEE, 2010. 988-993 [4] Wang H S, Liu, Y H, Chen W D. Visual tracking of robots in uncalibrated environments. Mechatronics, 2012, 22(4): 390 -397 [5] Pressigout M, Marchand E. Real-time 3D model-based tracking: combining edge and texture information. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation. Orlando, USA: IEEE, 2006. 2726 -2731 [6] Coutard L, Chaumette F. Visual detection and 3D model-based tracking for landing on an aircraft carrier. In: Proceedings of the 2011 IEEE International Conference on Robotics and Automation. Shanghai, China: IEEE, 2011. 1746-1751 [7] Drummond T, Cipolla R. Real-time visual tracking of complex structures. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2002, 24(7): 932-946 [8] Petit A, Marchand E, Kanani K. A robust model-based tracker combining geometrical and color edge information. In: Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Tokyo, Japan: IEEE, 2013. 3719-3724 [9] Vacchetti L, Lepetit V, Fua P. Combining edge and texture information for real-time accurate 3D camera tracking. In: Proceedings of the 3rd IEEE and ACM International Symposium on Mixed and Augmented Reality. Arlington, USA: IEEE, 2004. 48-56 [10] Espiau B, Chaumette F, Rives P. A new approach to visual servoing in robotics. IEEE Transactions on Robotics and Automation, 1992, 8(3): 313-326 [11] Comport A I, Marchand E, Pressigout M, Chaumette F. Real-time markerless tracking for augmented reality: the virtual visual servoing framework. IEEE Transactions on Visualization and Computer Graphics, 2006, 12(4): 615-628 [12] Wuest H, Stricker D. Tracking of industrial objects by using CAD models. Journal of Virtual Reality and Broadcasting, 2007, 4(1): 1-9 [13] Mills S, Aouf N, Mejias L. Image based visual servo control for fixed wing UAVs tracking linear infrastructure in wind. In: Proceedings of the 2013 IEEE International Conference on Robotics and Automation. Karlsruhe, Germany: IEEE, 2013. 5769-5774 [14] Xie H, Lynch A, Jagersand M. IBVS of a rotary wing UAV using line features. In: Proceedings of the 27th IEEE Canadian Conference on Electrical and Computer Engineering. Toronto, Canada: IEEE, 2014. 1-6 [15] Coutard L, Chaumette F, Pflimlin J M. Automatic landing on aircraft carrier by visual servoing. In: Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco, USA: IEEE, 2011. 2843 -2848 [16] Alkhalil F, Doignon C. Stereo visual servoing with decoupling control. In: Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Algarve, Portugal: IEEE, 2012. 1671-1676 [17] Liu Y H, Wang H S, Chen W D, Zhou D X. Adaptive visual servoing using common image features with unknown geometric parameters. Automatica, 2013, 49(8): 2453-2460 [18] Liu Y H, Wang H S, Wang C Y, Lam K K. Uncalibrated visual servoing of robots using a depth-independent interaction matrix. IEEE Transactions on Robotics, 2006, 22(4): 804-817 [19] Wang H S, Liu Y H, Zhou D X. Adaptive visual servoing using point and line features with an uncalibrated eye-in-hand camera. IEEE Transactions on Robotics, 2008, 24(4): 843-857
点击查看大图
计量
- 文章访问数: 1987
- HTML全文浏览量: 111
- PDF下载量: 1299
- 被引次数: 0