基于Kalman滤波的眼固定型无标定IBVS的Matlab仿真

Matlab Simulation of Uncalibrated Eye-in-Hand IBVS Based on Kalman Filtering

无标定视觉伺服(uncalibrated visual servoing)弥补了基于标定的视觉伺服的不足,具有广阔的应用前景。该文利用Matlab中的相关工具箱对基于kalman滤波无标定视觉伺服系统进行了仿真。首先,该文建立了眼固定型的图像雅可比矩阵的表达式;然后将Kalman滤波应用到图像雅可比矩阵的滤波估计中。最后利用Matlab的Robotics Toolbox和Machine Vision Toolbox对此Kalman滤波下的眼固定型无标定视觉伺服进行仿真,验证了此方法的可行性和有效性。

Uncalibrated visual servo makes up for the lack of calibration based visual servoing,and has broad application prospects.So it has been widely focused in recent years.In this paper,the Matlab is used to simulate the unmarked visual servo system based on Kalman filter.Firstly,the image jacobian matrix of eye-to-hand type is established;then the Kalman filter is used to identify the image jacobian matrix the without calibrat- ion.Finally,the Robotics Toolbox and Machine Vision Toolbox of Matlab are used to simulate the uncalibrated eye-to-hand IBVS based on Kalman filter,and the feasibility and effectiveness of this method are verified.