Pseudo-inverse Estimation of Image Jacobian Matrix in Uncalibrated Visual Servoing
Pseudo-inverse Estimation of Image Jacobian Matrix in Uncalibrated Visual Servoing
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DOI：
10.1109/icma.2006.257399
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发表时间：
2006-06
期刊：
影响因子：
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通讯作者：
Kang Qing-sheng;Hao Ting;Meng Zheng-da;Dai Xian-zhong
中科院分区：
文献类型：
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作者：
Kang Qing-sheng;Hao Ting;Meng Zheng-da;Dai Xian-zhong
在一般无标定视觉伺服算法的基础上，提出了一种新的运动目标视觉伺服方法，即基于递推最小二乘算法直接估计图像雅可比矩阵的伪逆，无需计算图像特征速度。基于运动目标图像雅可比矩阵的伪逆估计，推导了准高斯-牛顿和信赖域视觉伺服控制策略。仿真和实验验证了该方法的有效性
On general uncalibrated visual servoing algorithm, this paper proposes a new visual servoing method for moving targets, which is direct estimation of pseudo-inverse of image Jacobian matrix based on recursive least square algorithm and without calculation of the image feature velocity. The quasi-Gauss-Newton and trust region visual servoing control strategies are deduced based on pseudo-inverse estimation of image Jacobian matrix for moving targets. Simulations and experiments demonstrate the validity of this method