Homography-based 2D visual tracking and servoing
Homography-based 2D visual tracking and servoing
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DOI：
10.1177/0278364907080252
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发表时间：
2007-07-01
影响因子：
9.2
通讯作者：
Malis, E.
中科院分区：
文献类型：
--
作者：
Benhimane, S.;Malis, E.
本文的目的是提出一种新的单应性为基础的方法，基于图像的视觉跟踪和伺服。本文提出的视觉跟踪算法是基于一种新的有效的二阶最小化方法。理论分析和与其他跟踪方法的对比实验表明，该方法具有更高的收敛速度比标准的一阶最小化技术。因此，它非常适合实时机器人应用。视觉跟踪的输出是链接平面目标的当前图像和参考图像的单应性。使用单应性，同构的相机姿态的任务函数已被设计。提出了一种新的基于图像的控制律，该控制律不需要对观测目标的三维结构（如平面法线）进行任何测量。给出了任务函数与摄像机位姿同构存在的理论证明和控制律稳定性的理论证明。实验结果表明，在6 d.o.f.机器人，显示相对于现有的方法所提出的方法的优点。
The objective of this paper is to propose a new homography-based approach to image-based visual tracking and servoing. The visual tracking algorithm proposed in the paper is based on a new efficient second-order minimization method. Theoretical analysis and comparative experiments with other tracking approaches show that the proposed method has a higher convergence rate than standard first-order minimization techniques. Therefore, it is well adapted to real-time robotic applications. The output of the visual tracking is a homography linking the current and the reference image of a planar target. Using the homography, a task function isomorphic to the camera pose has been designed. A new image-based control law is proposed which does not need any measure of the 3D structure of the observed target (e.g. the normal to the plane). The theoretical proof of the existence of the isomorphism between the task function and the camera pose and the theoretical proof of the stability of the control law are provided. The experimental results, obtained with a 6 d.o.f. robot, show the advantages of the proposed method with respect to the existing approaches.