Purely image-based pose stabilization of nonholonomic mobile robots with a truly uncalibrated overhead camera
Purely image-based pose stabilization of nonholonomic mobile robots with a truly uncalibrated overhead camera
复制标题
具有真正未经校准的高架摄像机的非完整移动机器人的纯基于图像的姿态稳定
DOI：
10.1109/tro.2019.2961052
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发表时间：
2020
影响因子：
7.8
通讯作者：
Chen Weidong
中科院分区：
文献类型：
--
作者：
Liang Xinwu;Wang Hesheng;Liu Yun-Hui;Liu Zhe;You Bing;Jing Zhongliang;Chen Weidong
虽然已经提出了许多基于视觉的控制方法的非完整移动的机器人，在其实施中，它通常是必要的校准相机的内部和/或外部参数使用离线/在线参数估计算法或在线自适应法律。为了避免繁琐的摄像机标定，并使系统的性能具有很强的鲁棒性相机参数的不确定性，在这篇文章中，我们提出了新的基于图像的姿态稳定控制方法的非完整移动的机器人与一个真正的未校准的开销固定摄像机。在所提出的方法中，只有来自高架摄像机的三个特征点的图像位置信息用于控制器设计，而不需要来自其他传感器（例如车轮编码器）的信息。此外，离线或在线摄像机校准是不必要的，并且不需要关于摄像机内部和外部参数的知识，这也可以大大简化控制器的实现。仿真和实验结果表明，所提出的纯基于图像的姿态稳定方法的可行性和有效性。
Although many vision-based control methods have been proposed for nonholonomic mobile robots, in their implementation, it is usually necessary to calibrate the camera intrinsic and/or extrinsic parameters using offline/online parameter estimation algorithms or online adaptation laws. To avoid the tediousness of camera calibration and to make the system performance highly robust to camera parameter uncertainties, in this article, we propose novel image-based pose stabilization control approaches for nonholonomic mobile robots with a truly uncalibrated overhead fixed camera. In the proposed approaches, only image position information of three feature points from an overhead camera is used for controller design, while information from other sensors (such as wheel encoders) is not required. Furthermore, either offline or online camera calibration is not necessary, and no knowledge about the camera intrinsic and extrinsic parameters is needed, which also can greatly simplify the controller implementation. Simulation and experimental results are given to demonstrate the feasibility and effectiveness of the proposed purely image-based pose stabilization approaches.