摘要
系统论述了机器人视觉伺服发展的历史和现状。从不同角度对机器人视觉控制系统进行分类 ,重点介绍了基于位置的视觉伺服系统和基于图像的视觉伺服系统。对人工神经网络在机器人视觉伺服方面的应用情况作了介绍。讨论了视觉伺服中图像特征的选择问题。对机器人视觉所涉及的前沿问题进行阐述 。
The history and current research of robot visual servoing are reviewed. Robot visual control systems can be categorized according to different criteria. Based on the feedback representation, vision-based robot control techniques can be classified into position-based control and image-based control, which are discussed in detail. The application of neural networks in vision-based robot systems is introduced. Feature selection in visual servoing is discussed also. Several advanced problems and the direction in the research of robot vision are pointed out.
出处
《控制与决策》
EI
CSCD
北大核心
2001年第6期849-853,共5页
Control and Decision
基金
国家 8 6 3项目 (86 3- 2 - 5 - 2 - 2 )
关键词
人工神经网络
特征选择
机器人视觉
伺服系统
Classification (of information)
Feature extraction
Neural networks
Robots
Servomechanisms
