A hybrid visual servoing method for fusion of distance space and image feature space

Abstract

The present invention relates to a visual servo method for fusion of distance space and image feature space, the method comprising: constructing an image Jacobian matrix; constructing a depth Jacobian matrix; fusing the image Jacobian matrix and the depth Jacobian matrix, A hybrid visual servo Jacobian matrix is ​​obtained; based on the hybrid visual servo Jacobian matrix, a control algorithm is used to obtain the control amount of the robot movement, so that the robot moves to a target position and completes precise positioning. The above method in the present invention avoids the problems of singularity and local minimum of the traditional Jacobian matrix. Combining complementary image feature space and distance space, it makes up for the lack of visual information when the information is not redundant. The system collects data in real time, and under a simple control algorithm, it can quickly complete the visual servo task.

Description

technical field [0001] The invention relates to the technical field of visual servoing, in particular to a hybrid visual servoing method for fusion of distance space and image feature space. Background technique [0002] Visual servo technology is one of the research hotspots in the field of intelligent robot development and has been widely used in industry. In order to enable the robot to complete more complex tasks, the robot needs a control system with good performance and the ability to perceive changes in complex environments. [0003] In the traditional control method, the control accuracy of position-based visual servoing (PBVS) depends on the calibration of the model and the calibration results of the camera, which is less robust and requires frequent calibration. Image-based visual servoing (IBVS) is more robust to model parameters and image noise than position-based visual servoing. In the control method based on the development of IBVS, most algorithms rely on t...

AI Technical Summary

Problems solved by technology

In the control method based on the development of IBVS, most algorithms rely on the two-dimensional image feature information obtained by the visual sensor, and then use the obtained image information to complete the servo control. For the three-dimensional space servo task, there is a lack of information about the robot's terminal posture. amount, resulting in insufficient environmental awareness, and the servo effect cannot be further improved

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