聂小春, 徐文立, 石宗英. 一种主动视觉插轴入孔方法[J]. 机器人, 1996, 18(2): 72-77..
NIE Xiaochun, XU Wenli, SHI Zhongying. AN ACTIVE VISION STRATEGY FOR PEG-IN-HOLE TASK. ROBOT, 1996, 18(2): 72-77..
Abstract：This paper addresses the peg-in-hole problem, and presents an active vision strategy which includes three relative algorithms: (1)3D location estimation of circular feature by active vision;(2)3D location estimation of straight line by active vision;(3)camera pose estimation using one feature point. By setting up an object-centered coordinate, the relative position between robot hand and the object can be measured precisely even in the presence of intensive uncertainties of cameras and robot. Experimental result on a real robot system shows that this method is valid. This method can be extended to other forms of robot operations.
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