期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
期号：1
页码：77
DOI：10.5772/54240
语种：English
出版社：SAGE Publications
摘要：We present a novel vision servoing method, which is fit for climbing robots and those in unstructured environments, based on texture analysis. A large textured area is the target for observation. After the definition of texture element distribution density, the relationship between the change of the density at some selected points and the camera pose is deduced. The vision servoing control law, which meets the requirement of Lyapunov stability is designed in this paper. Experiments show the effectiveness of this method.
关键词：Vision Servoing; Texture; Station Keeping; Robot Vision Control
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