摘要
研究基于视觉伺服的自主微装配方法,为实现深度信息估计,提出一种基于马尔可夫随机场的散焦特征参数模型,将散焦特征深度信息的估计转化为能量函数的优化问题,采用Broyden图像雅可比矩阵实现视觉伺服控制。通过微夹钳自动定位与夹取实验,验证了该方法的有效性。
This paper studies the independent micro-assembly method based on visual servo.In order to realize the depth information estimation,it presents a blur parameter model of defocus image based on Markov random field for performing an effective and reliable automatic micro-assembly,which converts the problem of depth estimation into optimization problem.An improved Broyden method for estimating the image Jacobian matrix online is presented as the visual servo method.It designs the experiment of microgripper fix position and clip.Experimental results confirm that the proposed methods are effective.
出处
《计算机工程》
CAS
CSCD
北大核心
2011年第20期16-17,20,共3页
Computer Engineering
基金
国家"863"计划基金资助项目(2008AA8041302)
