Computer Engineering and Applications ›› 2010, Vol. 46 ›› Issue (21): 181-184.DOI: 10.3778/j.issn.1002-8331.2010.21.052

• 图形、图像、模式识别 • Previous Articles     Next Articles

Online estimation of image Jacobian matrix with time-delay compensation

LIU Wen-fang1,BING Zhi-gang2,LU Sheng-li2,LU Hai-long2   

  • Received:2009-12-31 Revised:2010-05-10 Online:2010-07-21 Published:2010-07-21
  • Contact: LIU Wen-fang

带时延补偿的图像雅可比矩阵在线估计方法

刘文芳1,邴志刚2,卢胜利2,路海龙2   

  • 通讯作者: 刘文芳

Abstract: The traditional methods for estimation of image Jacobian matrix do not consider the time-delay,which leads to larger estimation error.To compensate the time-delay,a novel method for the online estimation of image Jacobian matrix with time-delay compensation is proposed.The current position and velocity of the feature point on the image plane are predicted by Kalman filter algorithm,and then the accurate image Jacobian matrix is calculated.Simulation and experimental results show that the method improves the system performance significantly,demonstrating the feasibility and superiority of the time-delay compensation method proposed in this paper.

Key words: image Jacobian matrix, time-delay compensation, Kalman filter, visual servo

摘要: 传统的在线估计图像雅可比矩阵的方法没有考虑时延因素,因此具有较大的估计误差。为了补偿时间延迟,提出一种新的带时延补偿的图像雅可比矩阵估计方法。该方法利用卡尔曼滤波估计特征点在图像空间中当前时刻的位置和速度,进而计算当前时刻较为准确的图像雅可比矩阵估计值。仿真和实验结果表明,该方法显著地提高了系统的性能,从而验证了提出的带时延补偿的图像雅可比矩阵在线估计方法的可行性和优越性。

关键词: 图像雅可比矩阵, 时延补偿, 卡尔曼滤波, 视觉伺服

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