Visual Positioning System in Changing Outdoor Environments Based on Kinect

摘要：

　　The visual positioning system of the Kinect camera in a changing outdoor environments where the relative motion of the machine and the target and the machine are affected by external illumination.A double closed-loop control structure based on Kinect camera is established.The speed loop controller is designed by using the output feedback and internal model principle in modern control theory,and the position loop controller is designed by PID principle.Control performance is demonstrated by MATLAB/Simulink simulation control system.This visual servo system helps to improve the feature extraction ability of Kinect in the outdoor environment.

关键词： Kinect Visual servo control Visual positioning

作者: Yaoqing Weng Ying Sun

作者单位: Key Laboratory of Metallurgical Equipment and Control Technology,Ministy of Education,Wuhan Universi Hubei Key Laboratory of Metallurgical Transmission and Manufacturing Engineer,Wuhan University of Sc

会议类型: 国际会议

会议名称: 2019年第二届智能系统研究与机电工程国际会议(ISRME 2019) 2019 2nd International Conference on Intelligent Systems Research and Mechatronics Engineering

会议地点: 太原

会议语种:英文

页码: 213-216

在线出版日期: 2019-06-29（万方平台首次上网日期，不代表论文的发表时间）