Coupling active depth estimation and visual servoing via a large projection operator
Coupling active depth estimation and visual servoing via a large projection operator
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通过大型投影算子耦合主动深度估计和视觉伺服
DOI：
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发表时间：
2017
期刊：
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通讯作者：
F. Chaumette
中科院分区：
文献类型：
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作者：
R. Spica;P. Giordano;F. Chaumette
本文的目标是提出一个基于图像的视觉伺服任务的执行和主动结构之间的耦合从运动策略。其核心思想是在线修改零空间中的（主）伺服任务的摄像机轨迹，以使摄像机运动相对于3-D结构的估计“更具信息性”。因此，在伺服瞬态期间，来自运动收敛速率和精度的结构被最大化。运动性能的改进结构也有利于伺服执行，因为交互矩阵中涉及的3-D参数的更高精度通过显著减轻场景结构的不良知识的负面影响（不稳定性、特征可见性的损失）来改进基于图像的视觉伺服收敛。主动最大化的结构从运动性能的结果，在一般情况下，在一个变形的摄像机轨迹相对于什么将获得一个经典的基于图像的视觉伺服：因此，我们还提出了一种自适应策略，能够自动激活/停用的结构从运动优化作为当前的精度水平的函数，在估计的3-D结构。最后，我们报告了一个彻底的实验验证的整体方法在不同的条件和案例研究。所报道的实验很好地支持了理论分析，并清楚地表明了视觉控制和主动感知之间的耦合所带来的好处。
The goal of this paper is to propose a coupling between the execution of an image-based visual servoing task and an active structure from motion strategy. The core idea is to modify online the camera trajectory in the null-space of the (main) servoing task for rendering the camera motion ‘more informative’ with respect to the estimation of the 3-D structure. Consequently, the structure from motion convergence rate and accuracy is maximized during the servoing transient. The improved structure from motion performance also benefits the servoing execution, since a higher accuracy in the 3-D parameters involved in the interaction matrix improves the image-based visual servoing convergence by significantly mitigating the negative effects (instability, loss of feature visibility) of a poor knowledge of the scene structure. Active maximization of the structure from motion performance results, in general, in a deformed camera trajectory with respect to what would be obtained with a classical image-based visual servoing: therefore, we also propose an adaptive strategy able to automatically activate/deactivate the structure from motion optimization as a function of the current level of accuracy in the estimated 3-D structure. We finally report a thorough experimental validation of the overall approach under different conditions and case studies. The reported experiments support well the theoretical analysis and clearly show the benefits of the proposed coupling between visual control and active perception.