Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light
Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light
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DOI：
10.1109/tro.2006.878785
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发表时间：
2006-10
影响因子：
7.8
通讯作者：
J. Pagès;C. Collewet;F. Chaumette;J. Salvi
中科院分区：
文献类型：
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作者：
J. Pagès;C. Collewet;F. Chaumette;J. Salvi
本文研究了手眼系统的定位问题，使其与平面物体平行。我们解决这个问题的方法是将一个结构光发射器连接到相机上，以产生一组合适的视觉特征。使用结构光的目的不仅是为了简化图像处理和允许考虑低纹理对象，而且还为了产生具有良好特性的控制方案，如解耦，收敛和适当的相机轨迹。本文重点研究了一种基于图像的解耦方法，该方法在所有工作空间中实现解耦，并在完美条件下保证全局收敛。基于图像的方法的行为部分等同于三维视觉伺服方案，但对图像噪声具有更好的鲁棒性。关于该方法对标定误差的鲁棒性，分析和实验都证明了该方法的有效性
This paper considers the problem of positioning an eye-in-hand system so that it becomes parallel to a planar object. Our approach to this problem is based on linking to the camera a structured light emitter designed to produce a suitable set of visual features. The aim of using structured light is not only for simplifying the image processing and allowing low-textured objects to be considered, but also for producing a control scheme with nice properties like decoupling, convergence, and adequate camera trajectory. This paper focuses on an image-based approach that achieves decoupling in all the workspace, and for which the global convergence is ensured in perfect conditions. The behavior of the image-based approach is shown to be partially equivalent to a 3-D visual servoing scheme, but with a better robustness with respect to image noise. Concerning the robustness of the approach against calibration errors, it is demonstrated both analytically and experimentally