The Worldwide Journal of Robotics Analysis, Forward of Print.
Direct visible servoing considers all pixel intensities of all the picture as inputs for robotic management. Due to the excessive dimensionality of the picture house, it achieves excessive convergence accuracy at the price of low convergence area. Current work on the direct visible servoing decomposes the photographs into completely different sign areas. Though a big convergence area may be obtained, their different efficiency, similar to convergence price, convergence accuracy, and robustness beneath illumination variations, have been lowered. In different phrases, there exists an inevitable trade-off between the convergence area and the opposite efficiency. To mitigate the trade-off, by developing a brand new foundation set with spatial-frequency properties and contemplating their numerical relationship throughout switching course of, this text proposes a brand new and efficient direct visible servoing method. Initially, a brand new set of bases is specifically constructed for the visible servoing somewhat than leveraging present bases or transformations, and the analytical relationship between the unique loss operate and the remodeled one is derived for the primary time. Then, contemplating that completely different bases have completely different convergence properties, an efficient switching management technique is designed to pick out an applicable foundation at completely different states. In the end, a collection of simulations and experiments are carried out, and the outcomes display that the proposed servoing method considerably outperforms the state-of-the-art approaches when it comes to convergence area, convergence price, convergence accuracy, robustness beneath illumination variations, robustness beneath partial occlusions, and a few three-dimensional scenes. As well as, the proposed method can adapt properly to completely different digicam parameters.
发布者：Yecan Yin，转转请注明出处：https://robotalks.cn/direct-visual-servoing-based-on-a-new-basis-set-and-switching-strategy/
