基于相机角度自适应的视觉伺服

Visual servoing with angle adaptive control camera

针对视觉伺服中传统相机视野域有限和全景相机图像处理的计算量过大,提出了基于图像的相机角度自适应视觉伺服算法,根据不同相机坐标系之间的变换,计算相机旋转的变换矩阵。用极坐标系表示此旋转变换矩阵,计算出需要调整的相应角度。由于该方法极大地缩小了输入图像的尺寸,从而降低了视觉伺服中图像处理的数据量,提高了系统的实时性。实验仿真结果表明了该方法的有效性。

To solve the problems that conventional cameras suffer from limited vision and panoramic cameras suffer from costly image processing, an image-based visual servoing method with an angle adaptive control camera is proposed. According to the transformation between the different camera coordinates, the rotation matrix is calculated. Then the corresponding angle is found out by expressing the rotation matrix in polar coordinates. The size of the input image is greatly reduced, thus the data amount of image processing in visual servoing is decreased, and the real timing of system is improved. Simulation results are provided to show the effectiveness of the proposed approach.