Optimal motion control for image-based visual servoing by decoupling translation and rotation
Optimal motion control for image-based visual servoing by decoupling translation and rotation
复制标题
通过解耦平移和旋转实现基于图像的视觉伺服的最佳运动控制
DOI：
10.1109/iros.1998.727274
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
K. Deguchi
中科院分区：
文献类型：
--
作者：
K. Deguchi
基于图像的视觉伺服将图像变化直接解释为摄像机运动，并控制安装摄像机的机器人的位置和姿态以到达目标，其中摄像机获得与给定目标图像相同的图像。由于其策略是简单地最小化目标图像和当前获得的图像之间的差异，机器人运动的轨迹不能预先估计，有时它会导致在很大程度上效率低下的运动。本文指出这种无效运动是由图像的平移和旋转干涉引起的。然后，我们提出了两个算法，通过使用单应性和极线条件之间的目标图像和当前图像解耦，并生成机器人运动的最佳轨迹，直接到达目标。
Image-based visual servoing interprets image change directly to camera motion, and control the position and pose of a robot mounting a camera to reach the goal, where the camera obtains just the same image as a given goal image. Because its strategy is to simply minimize the differences between the goal image and the currently obtained image, trajectory of the robot motion cannot be estimated beforehand, and sometimes it results in largely inefficient motion. This paper points out that this inefficient motion is caused by interferences of translation and rotation of images. Then, we propose two algorithms to decouple them by using the homography and the epipolar condition held between the goal image and the current image, and to generate the optimal trajectory of the robot motion to reach the goal straightforwardly.