Robust visual servoing in 3-D reaching tasks
Robust visual servoing in 3-D reaching tasks
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DOI：
10.1109/70.538977
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发表时间：
1996-10-01
期刊：
影响因子：
--
通讯作者：
Sandini, G
中科院分区：
文献类型：
--
作者：
Grosso, E;Metta, G;Sandini, G
本文介绍了一种新的方法，在视觉引导下到达空间中的对象的问题，该方法的特点是具有很大的鲁棒性的校准误差，这样几乎没有校准是必需的。伺服基于双目视觉：通过实时计算立体图像上的双目光流，得到末端执行器运动场的连续测量值，并将其与目标的实际位置进行比较，从而连续校正末端执行器轨迹中的相对误差。本文概述了该方法的总体框架，展示了如何获得视觉测量，并讨论了控制器的合成沿着与其稳定性分析，实时实验显示该方法在真实的3-D应用的适用性。
This paper describes a novel approach to the problem of reaching an object in space under visual guidance, The approach is characterized by a great robustness to calibration errors, such that virtually no calibration is required. Servoing is based on binocular vision: a continuous measure of the end-effector motion field, derived from real-time computation of the binocular optical flow over the stereo images, is compared with the actual position of the target and the relative error in the end-effector trajectory is continuously corrected, The paper outlines the general framework of the approach, shows how visual measures are obtained and discusses the synthesis of the controller along with its stability analysis, Real-time experiments are presented to show the applicability of the approach in real 3-D applications.