Homography-Based Predictive Control for Visual Servoing

摘要：

In this paper, a homography-based predictive control strategy is presented for the visual servoing problem. Visual servoing play an important role in robot research domain. Nowadays, advanced control laws like Model Predictive Control have been used to solve the visual servoing problems. The extention of MPC into visual servoing has many advantagies. But most of these methods depend on the depth information and pricise intrinsic parameters of camera. In order to avoid the measurement of 3D structure, we thought the homography-based predictive control approach for visual servoing.

关键词： Predictive Control Visual Servoing Homography

作者: Jing Ji Guannan He

作者单位: Information Engineering College, Guangdong University of Technology, Guangdong, Guangzhou,510006, Ch College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 10

会议类型: 国际会议

会议名称: 第七届多光谱图象处理与模式识别国际学术会议

会议地点: 桂林

会议语种:英文

页码: 1-5

在线出版日期: 2011-11-01（万方平台首次上网日期，不代表论文的发表时间）