| SPATIAL TRAJECTORY PREDICTION OF VISUAL SERVOING |
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| 作者姓名： | Wang GangZhang ShufangHong YingLi XiaoqiSchool of Mechanical Engineering Tianjin University Tianjin ChinaQi HuiIntelligence Technology Division Shandong Electrical Power Institute |
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| 作者单位： | Wang GangZhang ShufangHong YingLi XiaoqiSchool of Mechanical Engineering，Tianjin University，Tianjin 300072，ChinaQi HuiIntelligence Technology Division，Shandong Electrical Power Institute |
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| 基金项目： | This project is supported by National Electric Power Corporation Foundation of China(No.SPKJ010-27). |
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| 摘 要： | Target tracking is one typical application of visual servoing technology. It is still a difficult task to track high speed target with current visual servo system. The improvement of visual servoing scheme is strongly required. A position-based visual servo parallel system is presented for tracking target with high speed. A local Frenet frame is assigned to the sampling point of spatial trajectory. Position estimation is formed by the differential features of intrinsic geometry, and orientation estimation is formed by homogenous transformation. The time spent for searching and processing can be greatly reduced by shifting the window according to features location prediction. The simulation results have demonstrated the ability of the system to track spatial moving object.
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| 关 键 词： | 机器人视觉 伺服系统 位姿预测 空间轨迹 |
SPATIAL TRAJECTORY PREDICTION OF VISUAL SERVOING |
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| Wang GangZhang ShufangHong YingLi XiaoqiSchool of Mechanical Engineering,Tianjin University,Tianjin ,ChinaQi HuiIntelligence Technology Division,Shandong Electrical Power Institute.SPATIAL TRAJECTORY PREDICTION OF VISUAL SERVOING[J].Chinese Journal of Mechanical Engineering,2003,16(1):7-9,12. |
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| Authors: | WangGang QiHui |
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| Affiliation: | [1]SchoolofMechanicalEngineering,TianjingUniversity,Tianjing300072,China [2]IntelligenceTenchnologyDivison,ShandongElectricalPowerInstitute |
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| Abstract: | Target tracking is one typical application of visual servoing technology. It is still a difficult task to track high speed target with current visual servo system. The improvement of visual servoing scheme is strongly required. A position-based visual servo parallel system is presented for tracking target with high speed. A local Frenet frame is assigned to the sampling point of spatial trajectory. Position estimation is formed by the differential features of intrinsic geometry, and orientation estimation is formed by homogenous transformation. The time spent for searching and processing can be greatly reduced by shifting the window according to features location prediction. The simulation results have demonstrated the ability of the system to track spatial moving object. |
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| Keywords: | Robot Visual servo Pose estimation Feature location prediction Target tracking |
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