Partially Decoupled Image-Based Visual Servoing Using Different Sensitive Features
Xu, De1; Lu, Jinyan1; Wang, Peng1; Zhang, Zhengtao1; Liang, Zize2; Xu D(徐德)
2017-08-01
发表期刊IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
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
DOI10.1109/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
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/19781
专题精密感知与控制研究中心_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
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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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