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Partially Decoupled Image-Based Visual Servoing Using Different Sensitive Features
Xu, De1; Lu, Jinyan1; Wang, Peng1; Zhang, Zhengtao1; Liang, Zize2; Xu D(徐德)
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
2017-08-01
Volume47Issue:8Pages:2233-2243
SubtypeArticle
AbstractA new image-based visual servoing method based on sensitive features is presented to separately realize the position control and orientation control. Line features are used for the orientation control because of their sensitivities to rotational motions. Point features and area size features are employed to realize the position control since area size features are very sensitive to the objects' depths. The translations resulting from rotational motions are introduced into the position control as the compensation in order to eliminate the influence of the camera's motions on the point features. The depths for all active features are estimated via interaction matrices, features variations, and the executed camera motions. The proposed method can keep the tracked objects in the camera's field of view in the visual servoing process. In addition, the determination methods of the interaction matrices for point, line, and area size features are proposed. Comparing to the traditional method, the proposed determination method of the interaction matrix for line is independent from the parameters of the plane containing the line. Experimental results verify the effectiveness of the proposed methods.
KeywordDepth Estimation Interaction Matrix Sensitive Features Visual Control Visual Servoing
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TSMC.2016.2641951
WOS KeywordTRACKING ; VISION ; ROBOTS ; MODEL
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61227804 ; 61421004 ; 61379097)
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS IDWOS:000411096800039
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/19781
Collection精密感知与控制研究中心_精密感知与控制
Corresponding AuthorXu D(徐德)
Affiliation1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Xu, De,Lu, Jinyan,Wang, Peng,et al. Partially Decoupled Image-Based Visual Servoing Using Different Sensitive Features[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2017,47(8):2233-2243.
APA Xu, De,Lu, Jinyan,Wang, Peng,Zhang, Zhengtao,Liang, Zize,&徐德.(2017).Partially Decoupled Image-Based Visual Servoing Using Different Sensitive Features.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,47(8),2233-2243.
MLA Xu, De,et al."Partially Decoupled Image-Based Visual Servoing Using Different Sensitive Features".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 47.8(2017):2233-2243.
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