A simple technique for improving camera displacement estimation in eye-in-hand visual servoing
A simple technique for improving camera displacement estimation in eye-in-hand visual servoing
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DOI：
10.1109/tpami.2004.56
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发表时间：
2004-09
影响因子：
23.6
通讯作者：
G. Chesi;K. Hashimoto
中科院分区：
文献类型：
--
作者：
G. Chesi;K. Hashimoto
提出了一种基于点对应估计手眼视觉伺服中摄像机位移的简单方法。提供比现有方法更准确的结果的想法包括考虑到相机运动期间使用的点对应对应于静止的空间点，因此利用额外的信息，这是通过首先估计物体的欧几里德结构，然后从这个估计估计相机位移来完成的。
A simple technique for estimating the camera displacement from point correspondences in eye-in-hand visual servoing is presented. The idea for providing more accurate results than existing methods consists of taking into account that the point correspondences used during the camera motion correspond to stationary spatial points, hence exploiting additional information, This is done by first estimating the object Euclidean structure and then estimating the camera displacement from this estimate.