双目免标定视觉伺服系统

Binocular Calibration-Free Vision Servo System

为了解决免标定视觉伺服系统需要多个目标特征的问题,提出了一种双目免标定视觉伺服系统。利用模块化的思想结合多线程的方式对系统整体进行了设计,使用卡尔曼滤波对系统的图像雅克比矩阵进行估计,并设计了合适的视觉伺服控制器。最后通过定位实验验证了本系统的可行性。

In order to solve the problem that a calibration-free visual servo system requires multiple target features,a binocular calibration-free visual servo system is proposed in this paper.The system as a whole is designed using the modular idea combined with multi-threading,the image Jacobi matrix of the system is estimated using Kalman filtering,and a suitable visual servo controller is designed.Finally,the feasibility of this system was verified by positioning experiments.