Adaptive visual servoing using point and line features with an uncalibrated eye-in-hand camera
Adaptive visual servoing using point and line features with an uncalibrated eye-in-hand camera
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DOI：
10.1109/tro.2008.2001356
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发表时间：
2008-08-01
影响因子：
7.8
通讯作者：
Zhou, Dongxiang
中科院分区：
文献类型：
--
作者：
Wang, Hesheng;Liu, Yun-Hui;Zhou, Dongxiang
本文提出了一种新的方法，基于图像的视觉伺服机器人与手眼相机时，相机参数没有校准和3-D坐标的功能是未知的。点和线的功能都被认为是。本文扩展了深度无关的相互作用（或图像雅可比矩阵）矩阵的概念，在早期的工作中开发的视觉伺服使用点功能和固定的相机，使用眼在手相机和点和线功能的问题。通过使用与深度无关的相互作用矩阵，可以通过未知的相机参数和特征的未知坐标来线性地参数化系统的闭环动态。将Slotine-Li方法与计算机视觉中从运动恢复结构的思想相结合，提出了一种在线估计未知参数的新算法。通过最小化机器人运动过程中捕获的多幅图像上的特征的真实的投影和估计投影之间的误差，这种新的自适应算法可以保证估计参数在一定尺度上收敛到真实的值。在非线性机器人动力学的基础上，利用李雅普诺夫理论证明了图像误差的渐近收敛性。实验已经进行了证明所提出的控制器的性能。
This paper presents a novel approach for image-based visual servoing of a robot manipulator with an eye-in-hand camera when the camera parameters are not calibrated and the 3-D coordinates of the features are not known. Both point and line features are considered. This paper extends the concept of depth-independent interaction (or image Jacobian) matrix, developed in earlier work for visual servoing using point features and fixed cameras, to the problem using eye-in-hand cameras and point and line features. By using the depth-independent interaction matrix, it is possible to linearly parameterize, by the unknown camera parameters an the unknown coordinates of the features, the closed-loop dynamics of the system. A new algorithm is developed to estimate unknown parameters online by combining the Slotine-Li method with the idea of structure from motion in computer vision. By minimizing the errors between the real and estimated projections of the feature on multiple images captured during motion of the robot, this new adaptive algorithm can guarantee the convergence of the estimated parameters to the real values up to a scale. On the basis of the nonlinear robot dynamics, we proved asymptotic convergence of the image errors by the Lyapunov theory. Experiments have been conducted to demonstrate the performance of the proposed controller.