• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Fourth International Conference and Exposition/Demonstration on Robotics for Challenging Situations and Environments, 4th, Feb 27-Mar 2, 2000, Albuquerque, New Mexico >Image-Based Real-Time Visual Tracking of Unknown 3-D Motion
【24h】

Image-Based Real-Time Visual Tracking of Unknown 3-D Motion

机译：基于图像的未知3-D运动的实时视觉跟踪

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents an image-based, real-time, visual servoing system capable of tracking unknown 3-D motion with high precision. The hardware system we used to achieve this purpose is The Real-time Intelligently ControLled Optical Positioning System (TRICLOPS). TRICLOPS mimics the foveal-peripheral capability of the human visual system by combining the visual sensing of a center camera with a wide angle lens (low resolution) with that of two vergence cameras with telephoto lenses (high resolution). The goal of tracking is to keep the object of interest in the optical axis of all three cameras. The rotation velocity input for the central camera system is obtained by the conventional image Jacobian method. The relative rotational positions of the two vergence cameras are obtained by taking the atan of the object position offset from the origin in the image plane over the focal length. Sub-pixel resolution can be obtained when the center camera and the two vergence cameras are combined in this fashion, especially when the object is close to the origin of the world frame.
机译：本文提出了一种基于图像的实时视觉伺服系统，能够高精度地跟踪未知的3D运动。我们用于实现此目的的硬件系统是实时智能控制光学定位系统（TRICLOPS）。 TRICLOPS通过将中央摄像机和广角镜头（低分辨率）的两个摄像头与两个远摄镜头和远摄镜头（高分辨率）的视觉检测相结合，模仿了人类视觉系统的中央凹周围能力。跟踪的目的是将感兴趣的对象保持在所有三个摄像机的光轴上。通过传统的图像雅可比方法获得用于中央照相机系统的旋转速度输入。通过在焦距上获取从像平面中的原点偏移的物体位置的距离，可以获取两个散焦相机的相对旋转位置。以这种方式组合中央摄像机和两个聚散摄像机时，可以获得亚像素分辨率，尤其是当物体靠近世界原点时。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号