A tutorial on visual servo control
A tutorial on visual servo control
复制标题
DOI：
10.1109/70.538972
复制
发表时间：
1996-10-01
期刊：
影响因子：
--
通讯作者：
Corke, PI
中科院分区：
文献类型：
--
作者：
Hutchinson, S;Hager, GD;Corke, PI
本文提供了一个教程介绍机器人操作器的视觉伺服控制，由于该主题跨越了许多学科，我们的目标仅限于提供一个基本的概念框架，我们开始通过回顾机器人和计算机视觉的先决条件主题，包括简要回顾坐标变换，速度表示和图像形成过程的几何方面的描述，然后，我们提出了视觉伺服控制系统的分类，两个主要类别的系统，基于位置和基于图像的系统，然后详细讨论，因为任何视觉伺服系统必须能够跟踪图像序列中的图像特征，我们还包括基于特征和基于相关性的跟踪方法的概述，我们总结了一些意见的视觉伺服控制的研究领域的当前方向的教程。
This article provides a tutorial introduction to visual servo control of robotic manipulators, Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework, We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspects of the image formation process, We then present a taxonomy of visual servo control systems, The two major classes of systems, position-based and image-based systems, are then discussed in detail, Since any visual servo system must be capable of tracking image features in a sequence of images, we also include an overview of feature-based and correlation-based methods for tracking, We conclude the tutorial with a number of observations on the current directions of the research field of visual servo control.