摘要
为了更简便地将基于图像的视觉伺服运用于移动机器人,避免采用近似线性输入输出反馈控制模型中近似与假设的情况,提出了3种使用极线几何与三角几何相结合的方法,此类方法不需要预先知道三维场景的结构知识。实验仿真结果证明了该方法的有效性。
To achieve Image-Based Visual Servoing（IBVS） for mobile robots more easily,and avoid using an approximate input-output linear feedback which has many assumptions,three methods combining epipolar geometry with triangle geometry were proposed.The proposed approaches did not need any knowledge of 3-D scene geometry.Simulation results validate the effectiveness of the proposed approach.
出处
《信息与电子工程》
2010年第5期598-602,共5页
information and electronic engineering
