李明富, 付艳, 李世其, 朱文革, 赵迪. 基于双目视差和主动轮廓的机器人手眼协调控制技术研究[J]. 机器人, 2008, 30(3): 248-253..
LI Ming-fu, FU Yan, LI Shi-qi, ZHU Wen-ge, ZHAO Di. Robotic Hand-Eye Coordination Control Based on Binocular Disparity and Active Contour. ROBOT, 2008, 30(3): 248-253..
Abstract：Robotic hand-eye coordination technology based on binocular disparity and active contour is proposed in this paper.The idea of active contour is used to dynamically approximate and track the external contour of the robot and the object,and the method which makes the binocular parallax to zero is proposed to enable the robot to reach the target and grasp the object.Firstly,the geometric parameter model of robot finger contour and the corresponding probability density observation model are set up,and CONDENSATION algorithm is applied to approximate and track the contour dynamically.Then based on the geometrical characteristics of approximated contours,the strategy of hand-eye coordination control based on binocular disparity is discussed.Finally,experiments for robot to grasp a ball are implemented based on the hand-eye coordination control method.The result shows that the proposed method is robust and insensitive to image noise,and can carry out tracking and grasping tasks guided by vision even under the conditions with cluttered background and complex textures.
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