中国科学院自动化研究所机构知识库

The imaging quality of a camera has an important influence on the results of visual servoing. To improve the imaging quality, a novel Active-Observation-Based composite visual servoing (AOBCVS) combined with Eye-in-Hand and Eye to-Hand configuration can be adopted, which consists of a mobile observer and a manipulator. One main problem of this configuration should be solved is to endow the mobile observer
with active observation ability. In order to obtain the optimal observation effect of the two markers (one marker can be seen as a target, and the other marker can be attached to a manipulator), a two-level scheme is designed for a mobile robot: in the decision level, a vehicle can determine the optimal observation position (OOP) by optimizing an observation measure function (OMF), in the control level, the vehicle is driven to the OOP and a pan-tilt camera mounted on it keeps the two markers in the view. The scheme of observer has such advantages: 1) a satisfactory solution for the field-of-view problem. 2) a comprehensive observation
measure function. 3) an ability to adjust the camera position in real time based on the current observation effect. Finally we provide simulation and experimental results to validate the effectiveness of the composite configuration.