| A Stable Switch Method Based on Fusion in Uncalibrated Visual Servoing |
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| 作者姓名： | 高振东 苏剑波 |
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| 作者单位： | Dept.of Automation Shanghai Jiaotong Univ.，Dept.of Automation，Shanghai Jiaotong Univ.，Shanghai 200240，China，Shanghai 200240，China |
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| 摘 要： | Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distributed visual sensors. The designed fusion algorithm is suitable to have dynamically adjustable fusion weights, and the fusion structure was analyzed. Simulations and experiments without any knowledge of mobile robots and uncalibrated visual sensors show that the method has higher adaptability than the traditional instant switch control method. The method can enhance the system stability at the switching process.
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| 关 键 词： | 伺服系统 开关控制 机器人 校准方法 |
| 文章编号： | 1007-1172（2007）05-0584-08 |
| 修稿时间： | 2006-10-09 |
A Stable Switch Method Based on Fusion in Uncalibrated Visual Servoing |
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| GAO Zhen-dong,SU Jian-bo.A Stable Switch Method Based on Fusion in Uncalibrated Visual Servoing[J].Journal of Shanghai Jiaotong university,2007,12(5):584-591,596. |
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| Authors: | GAO Zhen-dong SU Jian-bo |
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| Institution: | Dept. of Automation, Shanghai Jiaotong Univ., Shanghai 200240, China |
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| Abstract: | Stable switch control between multiple cameras for uncalibrated visual servoing was studied. Switch images based on fusion were presented to get the continuous dynamic image Jacobian matrix among robots and distributed visual sensors. The designed fusion algorithm is suitable to have dynamically adjustable fusion weights, and the fusion structure was analyzed. Simulations and experiments without any knowledge of mobile robots and uncalibrated visual sensors show that the method has higher adaptability than the traditional instant switch control method. The method can enhance the system stability at the switching process. |
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| Keywords: | uncalibrated visual servoing instant switching control switching control based on fusion multiple camera fusion |
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