Real-time visual servoing
Real-time visual servoing
复制标题
实时视觉伺服
DOI：
10.1109/robot.1991.131694
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发表时间：
1991
期刊：
影响因子：
--
通讯作者：
A. Timcenko
中科院分区：
文献类型：
--
作者：
P. Allen;B. Yoshimi;A. Timcenko
描述了一种与预测滤波器相结合的实时跟踪算法，以允许跟踪移动物体的机械臂的实时视觉伺服。该系统由两个经过校准（但未注册）的摄像机组成，这些摄像机为实时、管道并行光流算法提供图像，该算法可以健壮地计算光流，并以大约5赫兹的速率计算移动物体的三维位置。这些移动物体的三维位置作为预测运动学控制算法的输入，该算法使用alpha - beta - gamma滤波器来更新跟踪移动物体的机械臂的位置。本文给出了在多种不同轨迹下对运动模型列车进行跟踪的实验结果
A real-time tracking algorithm in conjunction with a predictive filter to allow real-time visual servoing of a robotic arm that is tracking a moving object is described. The system consists of two calibrated (but unregistered) cameras that provide images to a real-time, pipeline-parallel optic-flow algorithm that can robustly compute optic-flow and calculate the 3-D position of a moving object at approximately 5-Hz rates. These 3-D positions of the moving object serve as input to a predictive kinematic control algorithm that uses an alpha - beta - gamma filter to update the position of a robotic arm tracking the moving object. Experimental results are presented for the tracking of a moving model train in a variety of different trajectories.<<ETX>>