|
Wang Gang
Zhang Shufang
Hong Ying
Li Xiaoqi
School of Mechanical Engineering,
Tianjin University,
Tianjin 300072, China
Qi Hui
Intelligence Technology
Division,
Shandong Electrical Power Institute
|
|
|
SPATIAL TRAJECTORY PREDICTION
OF VISUAL SERVOING*
Abstract:
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.
Key words:
Robot Visual servo Pose estimation Feature location
prediction Target tracking |