| 带时延补偿的图像雅可比矩阵在线估计方法 |
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| 引用本文： | 刘文芳,邴志刚,卢胜利,路海龙.带时延补偿的图像雅可比矩阵在线估计方法[J].计算机工程与应用,2010,46(21):181-184. |
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| 作者姓名： | 刘文芳 邴志刚 卢胜利 路海龙 |
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| 作者单位： | 1. 天津机电职业技术学院,电气电子技术应用系,天津,300131
2. 天津信息感知与智能控制重点实验室,天津,300222 |
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| 基金项目： | 国家自然科学基金，国家高技术研究发展计划(863)，天津工程师范学院科研发展项目 |
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| 摘 要： | 传统的在线估计图像雅可比矩阵的方法没有考虑时延因素，因此具有较大的估计误差。为了补偿时间延迟，提出一种新的带时延补偿的图像雅可比矩阵估计方法。该方法利用卡尔曼滤波估计特征点在图像空间中当前时刻的位置和速度，进而计算当前时刻较为准确的图像雅可比矩阵估计值。仿真和实验结果表明，该方法显著地提高了系统的性能，从而验证了提出的带时延补偿的图像雅可比矩阵在线估计方法的可行性和优越性。
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| 关 键 词： | 图像雅可比矩阵 时延补偿 卡尔曼滤波 视觉伺服 |
| 收稿时间： | 2009-12-31 |
| 修稿时间： | 2010-5-10
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Online estimation of image Jacobian matrix with time-delay compensation |
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| LIU Wen-fang,BING Zhi-gang,LU Sheng-li,LU Hai-long.Online estimation of image Jacobian matrix with time-delay compensation[J].Computer Engineering and Applications,2010,46(21):181-184. |
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| Authors: | LIU Wen-fang BING Zhi-gang LU Sheng-li LU Hai-long |
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| Affiliation: | 1.Electrical and Electronics Technology Application Department,Tianjin Institute of Mechanical and Electronic Technology,Tianjin 300131,China 2.Tianjin Key Laboratory of Information Sensing and Intelligent Control,Tianjin 300222,China) |
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| Abstract: | The traditional methods for estimation of image Jacobian matrix do not consider the time-delay,which leads to larger estimation error.To compensate the time-delay,a novel method for the online estimation of image Jacobian matrix with time-delay compensation is proposed.The current position and velocity of the feature point on the image plane are predicted by Kalman filter algorithm,and then the accurate image Jacobian matrix is calculated.Simulation and experimental results show that the method improves the system performance significantly,demonstrating the feasibility and superiority of the time-delay compensation method proposed in this paper. |
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| Keywords: | image Jacobian matrix time-delay compensation Kalman filter visual servo |
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