Partially Decoupled Image-Based Visual Servoing Using Different Sensitive Features
文献类型：期刊论文
| 作者 | Xu, De1 ; Lu, Jinyan1; Wang, Peng1; Zhang, Zhengtao1; Liang, Zize2; Xu D(徐德)
|
| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
 |
| 出版日期 | 2017-08-01 |
| 卷号 | 47期号:8页码:2233-2243 |
| 关键词 | Depth Estimation Interaction Matrix Sensitive Features Visual Control Visual Servoing |
| DOI | 10.1109/TSMC.2016.2641951 |
| 文献子类 | Article |
| 英文摘要 | 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. |
| WOS关键词 | TRACKING ; VISION ; ROBOTS ; MODEL |
| WOS研究方向 | Automation & Control Systems ; Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000411096800039 |
| 资助机构 | National Natural Science Foundation of China(61227804 ; 61421004 ; 61379097) |
| 源URL | [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 |
| 推荐引用方式 GB/T 7714 | 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. |
入库方式： OAI收割
来源：自动化研究所
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