A self-calibrating technique for visual servoing

被引：0

作者：

Chesi, G ^{[1
]}

Hashimoto, K ^{[1
]}

机构：

[1] Univ Siena, Dept Informat Engn, I-53100 Siena, Italy

来源：

PROCEEDINGS OF THE 41ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4 | 2002年

关键词：

visual servoing; self-calibration; essential matrix; optimization;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a self-calibration procedure which is carried out in parallel to visual servoing algorithms is proposed. Our approach exploits the singular values property of the essential matrix and it is based on the introduction of a suitable cost function and a criterion for minimizing it on-line in order to update the current estimate of the intrinsic parameters. The behaviour of the visual servoing is hence improved for the case of unknown intrinsic parameters since the self-calibration procedure allows the robot control to work closer to the ideal case. Simulation results for position-based, image-based and 2 1/2 D visual servoing show also that the correct estimation of the intrinsic parameters is achieved in few steps of the required ones by the visual servoing algorithm to converge.

引用

页码：2878 / 2883

页数：6

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