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研究机器人在摄像机图像平面上对三维运动目标的跟踪方法。在摄像机模型未知及机器人与摄像机关系没有标定时 ,利用雅可比矩阵 ,可直接从图像上观察到的机器人手爪和运动目标之间的位置误差 ,计算出机器人手爪为消除这个误差的期望运动。并给出雅可比矩阵形式的推导过程
Research on Robots Tracking Method of 3D Moving Objects on Camera Image Plane. When the camera model is not known and the relationship between the robot and the camera is not calibrated, the Jacobian matrix can be used to directly estimate the position error between the robot’s gripper and the moving target observed from the image and calculate the robot’s grip movement as the desired motion to eliminate this error . And gives the derivation of Jacobi matrix form