A simple technique for improving camera displacement estimation in eye-in-hand visual servoing

被引：16

作者：

Chesi, G

Hashimoto, K

机构：

[1] Univ Siena, Dept Informat Engn, I-53100 Siena, Italy

[2] Tohoku Univ, Grad Sch Informat Sci, Dept Syst Informat Sci, Aoba Ku, Sendai, Miyagi 9808579, Japan

来源：

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE | 2004年 / 26卷 / 09期

关键词：

computer vision; visual servoing; camera displacement estimation;

D O I：

10.1109/TPAMI.2004.56

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A simple technique for estimating the camera displacement from point correspondences in eye-in-hand visual servoing is presented. The idea for providing more accurate results than existing methods consists of taking into account that the point correspondences used during the camera motion correspond to stationary spatial points, hence exploiting additional information. This is done by first estimating the object Euclidean structure and then estimating the camera displacement from this estimate.

引用

页码：1239 / 1242

页数：4

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