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An image-based visual servo control system based on an eye-in-hand monocular camera for autonomous robotic grasping

机译:基于手眼单眼相机的自主机器人抓取的基于图像的视觉伺服控制系统

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This paper presents an image-based visual servo control system incorporating with an eye-in-hand monocular camera without using the interaction matrix as traditional method. Instead, we propose the modified image-based visual servo control system for monocular from point error and area error. By using the method derived from the point error and area error of features and one value of the simple depth estimation, we can find camera velocity whereas a traditional method we need to know every depth values for each feature for determining the camera velocity. In addition, a physical eye-in-hand robot system is developed and implemented in order to validate the proposed algorithm. The experimental results obtained from the systems show significant improvement in control performances.
机译:本文提出了一种基于图像的视觉伺服控制系统,该系统结合了手眼单眼相机,而没有使用交互矩阵作为传统方法。取而代之的是,我们针对点误差和面积误差提出了一种改进的基于图像的单目视觉伺服控制系统。通过使用从特征的点误差和面积误差以及简单深度估计的一个值得出的方法,我们可以找到相机速度,而传统方法则需要知道每个特征的每个深度值才能确定相机速度。另外,为了验证所提出的算法,开发并实施了物理手眼机器人系统。从系统获得的实验结果表明,控制性能得到了显着改善。

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