基于活动轮廓的机器人视觉伺服

ROBOTIC VISUAL SERVOING BASED ON ACTIVE CONTOUR

本文提出了基于活动轮廓的视觉伺服反馈控制方法 .利用活动轮廓对运动物体的图像进行实时跟踪 ,抽取物体图像的边缘信息 ,并以此信息控制摄像头的运动 ,达到机器人定位、跟踪等目的 .该方法跟踪精度高 ,鲁棒性好 ,便于实时跟踪 .

In this paper, a robotic visual servoing based on active contour is presented. We track image contours related to the object of interest using an active contour, The active contour provides global informations about the position of the object. When visual servoing is combined with the use of active contour, movement of the camera can be controled by these informations. To verify the potential of our approach, we run several experiments.