眼在手上机器人手眼无标定三维视觉跟踪

EYE-IN-HAND 3D ROBOTIC VISUAL TRACKING WITHOUT CALIBRATION

在未标定手眼关系及摄像机模型的情况下 ,建立了机器人三维视觉跟踪问题非线性视觉映射关系模型 ,并据此设计了基于人工神经网络的视觉跟踪控制器 .仿真结果表明该算法能完全消除稳态跟踪误差 ,具有很强的环境适应性和容错能力 ,算法简单 。

Without explicit external and internal calibration, a nonlinear visual mapping model for 3D robotic visual tracking problem is proposed and a new visual tracking controller based on artificial neural network is designed. Simulation results show that this method can drive the static tracking error to zero quickly and keep good robustness and adaptability at the same time. Additionally, the algorithm is very easy to be implemented with low computational complexity.