摘要
针对微操作的作业空间小、路径可估计、位移及定位精度要求高等特点,提出了一种基于运动估计和图像匹配的视觉伺服控制算法,该算法将运动估计引入到视觉伺服中,利用运动估计出末端执行器下一次可能出现的位置,进行小区域的匹配搜索,而不进行整个视频区域的匹配搜索,大大减少了图像匹配时间,提高了实时性和实用性,并增强了鲁棒性。将该算法应用于解决细胞注射微操作过程中的位移以及精密定位等问题,研究了此算法的可行性以及理想运动轨迹的计算和实际运行的轨迹,给出了实现视觉伺服控制算法的数学推导模型及公式。实验结果表明:此算法实现了实时跟踪和识别定位,且鲁棒性好,可应用于大多数的微操作中的移动定位。
In the light of the features of the micro-manipulations, i. e., the operation space is infinitesimal, the track is estimable,and both the required precisions of the motion and positioning are high,a vision servo control algorithm was proposed based on the motion estimation and the image match. The algorithm introduces the motion estimation into the vision servo system to perform the regional search instead of the match search in the whole video space by estimating the next possible location of the end actuator. Therefore, the time needed for image match is reduced significantly, the real-time feature of the algorithm is enhanced, and its practicability and robustness are improved. The proposed algorithm was used to solve the problems associated with the precise displacement and positioning in the cell injection micro-manipulation,and the real-time tracking and motion positioning were realized with good precision and robustness.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2007年第3期655-659,共5页
Journal of Jilin University:Engineering and Technology Edition
基金
'863'国家高技术研究发展规划项目(2002AA423150)
关键词
自动控制技术
视觉控制算法
运动估计
图像匹配
轨迹
automatic control technology
vision control algorithm
motion estimation
image match
track
