Monocular Visual Servoing Based on Image Moments(Image)

スポンサーリンク

概要

• 論文の詳細を見る

• In the process of visual servoing, images are often blurred when the camera is moving. To solve this problem, a visual servoing system is proposed based on image moments of a planar target. According to image moment errors, the system can drive a camera to approach a static target with a 3D translational velocity. In this paper, it was proved that 0- and 1-order image moments are not only image's blur invariants, but also include the information of a target's position relative to the camera. Besides, the state equation of a moving image was deduced, based on which the control structure and an adaptive control strategy of our visual servoing system were designed. At last, some simulation results were presented to demonstrate the validity of the system.

• 社団法人電子情報通信学会の論文
• 2004-07-01

著者

• Shen Xiao-jing

  Department Of Automation Shanghai Jiao Tong University

• Pan Jun-min

  Department Of Electrical Engineering Shanghai Jiao Tong University

• PAN Jun-Min

  Department of Electrical Engineering, Shanghai Jiao Tong University

関連論文

• Monocular Visual Servoing Based on Image Moments(Image)

スポンサーリンク