摘要
首先对于3种机器人视觉伺服策略,即基于位置的视觉伺服、基于图像的视觉伺服以及2.5维视觉伺服进行了讨论.然后,对于视觉伺服的研究方向和面临的主要问题,如机器人位姿提取、视觉伺服系统的不确定性研究、图像空间的路径规划、智能视觉伺服等进行了分析和讨论.在此基础上,对于机器人视觉伺服领域的未来研究重点,包括如何使参考点位于视场之内,高速伺服策略以及鲁棒视觉伺服技术进行了分析和展望.
In this survey of visual servoing in robotics three visual servoing strategies are discussed, position-based visual servoing, image-based visual servoing, and 2.5 D visual servoing. The main research di-rections and some challenging problems in the visual servoing field are discussed, including the extraction of position/pose information from images, uncertainties in visual servoing systems, path planning in an image space, and intelligent visual seroving. Additionally, possible future research areas are analyzed. Examples are the challenge of keeping reference points within camera images, fast servoing strategies, and robust visual servoing technologies.
出处
《智能系统学报》
2008年第2期109-114,共6页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金资助项目(60574027)
天津市应用基础研究计划资助项目(07JCYBJC05400)
教育部新世纪优秀人才支持计划资助项目(NCET-06-0210)
