SPATIAL TRAJECTORY PREDICTION OF VISUAL SERVOING

摘要

＜正＞ Target tracking is one typical application of visual servoing technology. It is still a difficult task to track high speed target with current visual servo system. The improvement of visual servoing scheme is strongly required. A position-based visual servo parallel system is presented for tracking target with high speed. A local Frenet frame is assigned to the sampling point of spatial trajectory. Position estimation is formed by the differential features of intrinsic geometry, and orientation estimation is formed by homogenous transformation. The time spent for searching and processing can be greatly reduced by shifting the window according to features location prediction. The simulation results have demonstrated the ability of the system to track spatial moving object.