Robust vision-based pose control
Robust vision-based pose control
复制标题
基于视觉的鲁棒姿态控制
DOI：
10.1109/robot.2000.846441
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
J. Ostrowski
中科院分区：
文献类型：
--
作者：
C. J. Taylor;J. Ostrowski
控制的空间位置和方向的机器人平台上安装在该平台上的视频摄像机获得的图像数据的基础上的问题被认为是。更具体地说，我们提出的控制律，将导致机器人实现并保持一个固定的位置和方向相对于一组特征点在场景中。我们证明了分析，所提出的控制方案是全局收敛的，即使在存在较大的校准误差的摄像机的内部参数和外部参数的参考框架的摄像机的机器人平台的身体框架，这是受控的。此外，没有关于场景结构的先验知识被假定。
The problem of controlling the spatial position and orientation of a robotic platform based on the image data obtained from a video camera mounted on that platform is considered. More specifically, we propose control laws that will cause the robot to achieve and maintain a fixed position and orientation with respect to a set of feature points in the scene. We demonstrate analytically that the proposed control scheme is globally convergent even in the presence of large calibration errors in both the intrinsic parameters of the camera and in the extrinsic parameters which relate the frame of reference of the camera to the body frame of the robot platform which is being controlled. Furthermore, no a priori knowledge about the structure of the scene is assumed.