Adaptive visual servoing by simultaneous camera calibration

被引：19
|
作者：
Pomares, J. [1 ]
Chaurnette, F. [2 ]
Torres, F. [1 ]
机构：
[1] Univ Alicante, Phys Syst Engn & Signal Theory Dept, Alicante, Spain
[2] INRIA, IRISA, Rennes, France
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363897
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Calibration techniques allow the estimation of the intrinsic parameters of a camera. This paper describes an adaptive visual servoing scheme which employs the visual data measured during the task to determine the camera intrinsic parameters. This approach is based on the virtual visual servoing approach. However, in order to increase the robustness of the calibration several aspects have been introduced in this approach with respect to the previous developed virtual visual servoing systems. Furthermore, the system is able to determine the value of the intrinsic parameters when they vary during the task. This approach has been tested using an eye-in-hand robotic system.
引用
收藏
页码：2811 / +
页数：2
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