Partially Decoupled Image-Based Visual Servoing Using Different Sensitive Features

doi:10.1109/TSMC.2016.2641951

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	Partially Decoupled Image-Based Visual Servoing Using Different Sensitive Features
	Xu, De1 ; Lu, Jinyan1 ; Wang, Peng1 ; Zhang, Zhengtao1 ; Liang, Zize2 ; Xu D(徐德)
发表期刊	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
	2017-08-01
卷号	47 期号:8 页码:2233-2243
文章类型	Article
摘要	A 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.
关键词	Depth Estimation Interaction Matrix Sensitive Features Visual Control Visual Servoing
WOS标题词	Science & Technology ; Technology
DOI	10.1109/TSMC.2016.2641951
关键词[WOS]	TRACKING ; VISION ; ROBOTS ; MODEL
收录类别	SCI
语种	英语
项目资助者	National Natural Science Foundation of China(61227804 ; 61421004 ; 61379097)
WOS研究方向	Automation & Control Systems ; Computer Science
WOS类目	Automation & Control Systems ; Computer Science, Cybernetics
WOS记录号	WOS:000411096800039
引用统计	被引频次：34[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/19781
专题	中科院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	Xu D(徐德)
作者单位	1.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
第一作者单位	精密感知与控制研究中心
推荐引用方式 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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