| 基于活动轮廓的机器人视觉伺服控制 |
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| 引用本文： | 夏利民,谷士文,罗大庸,樊晓平.基于活动轮廓的机器人视觉伺服控制[J].国防科技大学学报,2000,22(1):60-64. |
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| 作者姓名： | 夏利民 谷士文 罗大庸 樊晓平 |
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| 作者单位： | 长沙铁道学院电子工程系,湖南,长沙,410075 |
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| 基金项目： | 国家自然科学基金资助项目! (6 9975 0 0 3)，湖南省自然科学基金资助项目! (98JJY2 0 44 ) |
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| 摘 要： | 提出了基于活动轮廓的视觉伺服控制方法。将活动轮廓和光流模型相结合用于运动物体图像的实时跟踪 ,以抽取物体图像的边缘信息 ,并以此信息控制摄像机的运动 ,达到机器人定位、跟踪等目的。该方法跟踪精度高 ,鲁棒性好 ,且满足实时跟踪的要求。实验结果表明了该方法的正确性和有效性。
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| 关 键 词： | 视觉伺服控制 活动轮廓 光流模型 图像分割 物体跟踪 |
| 收稿时间： | 1999/10/28 0:00:00 |
Robotic Visual Servo Control Based on Active contour |
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| XIA Limin,GU Shiwen,LUO Dayong and FAN Xiaoping.Robotic Visual Servo Control Based on Active contour[J].Journal of National University of Defense Technology,2000,22(1):60-64. |
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| Authors: | XIA Limin GU Shiwen LUO Dayong and FAN Xiaoping |
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| Institution: | Department of Electronic Engineering, Changsha Railway University, Changsha 410075, China;Department of Electronic Engineering, Changsha Railway University, Changsha 410075, China;Department of Electronic Engineering, Changsha Railway University, Changsha 410075, China;Department of Electronic Engineering, Changsha Railway University, Changsha 410075, China |
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| Abstract: | A robotic visual servo control based on active contour is presented, which combines the active contour with the image optical flow for tracking image contours related to the object of interest. The active contour provides the position information of the object to control movement of the camera. For accomplishing the robotics tasks such as positioning and tracking,by using the proposed method the real time constraints as well as the requirements of accuracy and robustness are fulfilled. To verify the potential of our approach,we carried out several experiments. |
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| Keywords: | visual servo control active contour optical flow image segmentation object tracking |
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