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IMAGE MOMENTS BASED VISUAL TRACKING OF 3D TRANSLATIONAL MOTION
Author(s): 
Pages: 217-223
Year: Issue:  3
Journal: ROBOT

Keyword:  视觉伺服机器人图像矩图像雅可比矩阵;
Abstract: 区别于图像的简单几何特征,本文利用图像的全局特征描述子-图像矩特征作为图像特征信息,实现了基于图像的运动目标3D平动的视觉跟踪.针对任务要求,本文选取了一组矩特征用以完成任务.基于所选的矩,本文给出了矩特征变化量与相对位姿变化量之间的关系矩阵,即图像雅可比矩阵,然后利用所推导的图像雅可比矩阵,设计了由图像反馈与目标运动自适应补偿组成的视觉伺服控制器,实现了在未知目标成-深度及摄像机焦距的情况下对运动目标的3D平动跟踪.
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