Adaptive visual servoing using common image features with unknown geometric parameters
Adaptive visual servoing using common image features with unknown geometric parameters
复制标题
使用具有未知几何参数的常见图像特征的自适应视觉伺服
DOI：
10.1016/j.automatica.2013.04.018
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发表时间：
2013-08
期刊：
影响因子：
6.4
通讯作者：
Zhou, Dongxiang
中科院分区：
文献类型：
--
作者：
Liu, Yun-Hui;Wang, Hesheng;Chen, Weidong;Zhou, Dongxiang
This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method.
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影响因子：
4.8
作者：
G. Hu;N. Gans;N. Fitz-Coy;W. Dixon
通讯作者：
G. Hu;N. Gans;N. Fitz-Coy;W. Dixon
DOI：
10.1016/j.automatica.2010.04.009
发表时间：
2010-07
期刊：
Autom.
影响因子：
--
作者：
C. Cheah;Chao Liu;J. Slotine
通讯作者：
C. Cheah;Chao Liu;J. Slotine
影响因子：
7.8
作者：
Wang, Hesheng;Liu, Yun-Hui;Zhou, Dongxiang
通讯作者：
Zhou, Dongxiang
影响因子：
7.8
作者：
Hesheng Wang;Yunhui Liu;Dongxiang Zhou
通讯作者：
Hesheng Wang;Yunhui Liu;Dongxiang Zhou
DOI：
10.1109/robot.2007.363628
发表时间：
2007-04
期刊：
Proceedings 2007 IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
R. T. Fomena;F. Chaumette
通讯作者：
R. T. Fomena;F. Chaumette