单目视觉伺服研究综述

徐德

doi:10.16383/j.aas.2018.c170715

单目视觉伺服研究综述

doi: 10.16383/j.aas.2018.c170715

徐德^1,2,

1.
中国科学院自动化研究所精密感知与控制研究中心北京 100190
2.
中国科学院大学人工智能学院北京 101408

基金项目:

科学挑战专题 TZ2018006-0204-02

国家自然科学基金 61733004

详细信息

作者简介:
徐德中国科学院自动化研究所研究员.1985年、1990年获得山东工业大学学士、硕士学位.2001年获得浙江大学博士学位.主要研究方向为机器人视觉测量, 视觉控制, 智能控制, 视觉定位, 显微视觉, 微装配.E-mail:de.xu@ia.ac.cn

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- 被引次数: 0
出版历程
- 收稿日期: 2017-12-21
- 录用日期: 2018-04-04
- 刊出日期: 2018-10-20

A Tutorial for Monocular Visual Servoing

XU De^{1,2
,}

1.
Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing 100190
2.
School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 101408

Funds:

Science Challenge Project TZ2018006-0204-02

National Natural Science Foundation of China 61733004

More Information

Author Bio:
Professor at the Institute of Automation, Chinese Academy of Sciences. He received his bachelor degree and master degree from Shandong University of Technology in 1985 and 1990, respectively, and received his Ph. D. degree from Zhejiang University in 2001. His research interest covers robotics and automation such as visual measurement, visual control, intelligent control, visual positioning, microscopic vision, and microassembly

摘要

摘要: 视觉伺服是机器人视觉领域的研究热点之一，具有十分广泛的应用前景.本文针对单目视觉系统，从视觉伺服的运动映射关系、误差表征、控制律设计、关键影响因素等多个层面，对视觉伺服的研究现状进行了论述，并分析了不同视觉伺服方法的特点，给出了视觉伺服在不同领域的典型应用.最后，指出了视觉伺服未来的主要发展方向.
- 交互矩阵 /
- 单应性矩阵 /
- 极线几何 /
- 特征选择 /
- 控制律设计 /
- 单目视觉 /
- 视觉伺服
Abstract: Visual servoing is an important focus in the field of robot vision, which has a wide application area. This paper mainly discusses monocular visual servoing methods. It introduces different visual servoing methods and analyzes their characteristics from aspects such as motion mapping from features, errors representation, control law design, and key influence factors. Typical applications in different fields are given. Finally, the development tendency in future is predicted as well.
- Interaction matrix /
- homography matrix /
- epipolar geometry /
- feature selection /
- control law design /
- monocular vision /
- visual servoing
注释:

1) 本文责任编委董峰

HTML全文

参考文献(170)

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