潘且鲁, 苏剑波, 席裕庚. 基于立体视觉的机器人手眼无标定三维视觉跟踪[J]. 机器人, 2000, 22(4): 293-299.
引用本文: 潘且鲁, 苏剑波, 席裕庚. 基于立体视觉的机器人手眼无标定三维视觉跟踪[J]. 机器人, 2000, 22(4): 293-299.
PAN Qie-lu, SU Jian-bo, XI Yu-geng. UNCALIBRATED 3D ROBOTIC VISUAL TRACKING BASED ON STEREO VISION[J]. ROBOT, 2000, 22(4): 293-299.
Citation: PAN Qie-lu, SU Jian-bo, XI Yu-geng. UNCALIBRATED 3D ROBOTIC VISUAL TRACKING BASED ON STEREO VISION[J]. ROBOT, 2000, 22(4): 293-299.

基于立体视觉的机器人手眼无标定三维视觉跟踪

UNCALIBRATED 3D ROBOTIC VISUAL TRACKING BASED ON STEREO VISION

  • 摘要: 本文在未标定手眼关系及摄像机模型的情况下,建立了机器人立体视觉跟踪问题非线性视觉映射关系模型,并据此设计了基于人工神经网络的视觉跟踪控制器.仿真结果表明该算法能完全消除稳态跟踪误差,具有很强的环境适应性和容错能力,算法简单,易于实时实现.

     

    Abstract: This paper proposes a new nonlinear visual mapping model for the 3D ro botic visual tracking problem and a novel visual tracking controller is designed based on artificial neural network without explicit external and internal calib ration. Simulation results show that this method can drive the static tracking e rror to zero quickly and keep good robustness and adaptability at the same time. Additionally, the algorithm is very easy to be implemented with low computation al complexity.

     

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