摘要
为获得连续动态的图像雅可比矩阵,分析了融合方式和传统图像直接切换方法的缺陷,提出了一种基于融合的多图像稳定切换算法,算法采用动态加权融合策略。在移动机器人位置未知和无标定多摄像机的情况下,仿真和实验结果表明:该算法比传统方法具有更高的适应能力,图像切换过程的稳定性得到了很大提高。
To get the continuous dynamic image Jacobian matrix among multiple cameras and robot for uncalibrated visual servoing robot system, the traditional instant switch control method and fusion structure is analyzed. A stable switch algorithm based on fusion is put forwerd that adopts dynamically adjustable fusion weights. Without any knowledge of mobile robots and uncalibrated visual sensors, simulations and experimental result show that the method has more adaptability than the traditional instant switch control method. In this way, the system stability at the switching process can be enhanced.
出处
《传感器与微系统》
CSCD
北大核心
2008年第7期34-37,共4页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(60428303)
关键词
无标定视觉伺服
直接切换控制
基于融合的切换控制
多摄像机融合
uncalibrated visual servoing
instant switching control
switching control based on fusion
multiple camera fusion
