On visual servoing based on efficient second order minimization

This paper deals with the Efficient Second order Minimization (ESM) and the image-based visual servoing schemes. In other words, it deals with the minimization based on the pseudo-inverse of the mean of the Jacobians or on the mean of Jacobian Pseudo-inverses. Chronologically, it has been noticed in Tahri and Chaumette (2003) [22] that ESM generally improves the system behavior when compared with the system in which only the simple Jacobian Pseudo-inverses are used. Subsequently, a mathematical explanation has been given in Malis (2004) [12]. In this paper, the proofs given by Malis are discussed and it will be shown that there is a limitation to the validity of the ESM. We will also show that the use of ESM does not necessarily ensure a better system behavior, especially in the situations where large rotational motions are involved. Further, a new appropriate formula of the ESM is proposed and validated using several kinds of features.     

基于视觉伺服的高精度运动控制系统设计

本文针对高速流水线上的机械手特点设计了一种高精度的视觉伺服运动控制系统,详细介绍了控制系统结构,描述了视觉伺服模型的建立以及系统的具体实现。     

Visual servoing for online facilities

Visual servoing for online facilities aims at automated manipulation of instrument control parameters based on visual-scene interpretation. It provides a layer of computing that hides the latency in the Internet environment and simplifies the use of scientific imaging instruments. This approach makes remote real-time imaging experiments feasible over unpredictable wide area networks. The authors' efforts focus on developing a framework for remotely manipulating microscopic objects. Two diverse applications demonstrate the framework's usefulness: microdissection of DNA molecules and in situ examination of crystal formation. Microdissection and subsequent amplification of DNA molecules allow for rapid closure of gaps in the genomic library. In situ experiments reveal information about the thermal and morphological properties of crystal structures     

Visual servoing and CAD-driven microassembly

The authors describe current research and development on a robotic visual servoing system for assembly of LIGA (lithography galvonoforming abforming) parts. The workcell consists of an AMTI robot, precision stage, long working distance microscope, and LIGA fabricated tweezers for picking up the parts. Fourier optics methods are used to generate synthetic microscope images from CAD drawings. These synthetic images are used off-line to test image processing routines under varying magnifications and depths of field. They also provide reference image features which are used to visually servo the part to the desired position. Currently, we can visually servo a 100 micron outside diameter LIGA gear to a desired x,y reference position as determined from a synthetic image of the gear     

基于直方图信息表补偿的图像密写技术*

基于对最低比特位匹配密写方法及利用图像直方图对其进行密写分析方法的研究,提出了一种基于直方图信息表补偿的最低比特位密写方法。该方法在密写过程中定义动态改变的直方图信息表,以记录图像秘密信息嵌入位置像素的增减,并根据信息表内的记录在下一次同样灰度值的像素嵌入秘密信息时对直方图信息表进行补偿处理,而总体原则是尽量保证密写后的直方图信息表变化最小。实验表明,经本方法密写后的图像直方图基本保持了原有峰值和变化趋势等属性,对一些针对图像直方图攻击方法有很好的效果。     

Visual servoing for large camera displacements

The first aim of any visual-servoing strategy is to avoid features being lost from the field of view and that the desired location may not be reached. However, avoiding both these system failures turns out to be very difficult, especially when the initial and desired locations are distant. Moreover, the methods that succeed in presence of large camera displacements often produce a long translational trajectory that may not be allowed by the robot workspace and/or joint limits. In this paper, a new strategy for dealing with such problems is proposed, which consists of generating circular-like trajectories that may satisfy the task requirements more naturally than other solutions. Knowledge of geometrical models of the object or points depth is not required. It is shown that system failures are avoided for a calibrated camera. Moreover, necessary and sufficient conditions are provided for establishing tolerable errors on the estimates of the intrinsic and extrinsic parameters, in order to guarantee a robust field of view and robust local asymptotic stability. Several simulation results show that the translational trajectories obtained in presence of large displacements are significantly shorter than those produced by the existing methods, in cases of both correct and bad camera calibration. Very satisfactory results are achieved also in presence of small displacements.     

基于直方图移位的AMBTC域无损信息隐藏

针对秘密信息的安全传输,提出了一种信息隐藏算法,将混沌置乱变换及行程压缩编码同时应用于秘密信息预处理,旨在改善隐藏载体的嵌入容量和鲁棒。该算法将直方图移位技术应用于信息嵌入过程,在绝对矩阵块截断编码（AMBTC）生成的高低平均值序列上隐藏预处理后的秘密信息,实现了载体的无损隐藏并提升了嵌入容量,且嵌入容量高于直接在由AMBTC生成的高低平均值序列上进行隐藏的算法。实验结果表明,在受到某些攻击后仍保证提取出的秘密信息具有较高的可辨识度,归一化系数始终高于0.6,证明了该算法在鲁棒性和隐藏效率方面的优势。因此,提出的信息隐藏方法能达到秘密信息安全传输的目的,同时具有很好的抗攻击性。     

融合空间及邻域信息的色彩直方图检索方法

针对直方图无法反映色彩分布的空间信息这一缺陷,提出一种融合了空间及邻域信息的色彩直方图检索方法。以同一色彩构成的最大连通区域及其边缘区域的颜色粗糙度来反映同一颜色像素形成的区域特点及邻域信息,从而降低检索结果对色彩的绝对依赖,提高了检索的准确性。     

基于相机角度自适应的视觉伺服

针对视觉伺服中传统相机视野域有限和全景相机图像处理的计算量过大,提出了基于图像的相机角度自适应视觉伺服算法,根据不同相机坐标系之间的变换,计算相机旋转的变换矩阵.用极坐标系表示此旋转变换矩阵,计算出需要调整的相应角度.由于该方法极大地缩小了输入图像的尺寸,从而降低了视觉伺服中图像处理的数据量,提高了系统的实时性.实验仿真结果表明了该方法的有效性.     

Visual servoing control of autonomous robot calibration and navigation

This article addresses the problem of how to visually control a mobile robot in a navigation process. The algorithms proposed may be used either for external calibration to locate the robot accurately in a structured environment, or in visual servoing as feedback to the controller which is maintaining the robot on a navigation course. Herein, we examine the problem in a special case, where the ground plane is assumed to be horizontal and there are two locally parallel sidelines available. This assumption holds in many indoor environments, such as hallways, where the system's success has been demonstrated. The algorithms use geometric features such as vanishing points and line orientations. Both theoretical analysis and experimental results show that the algorithms work robustly and accurately. ©1999 John Wiley & Sons, Inc.     

Visual servoing for an autonomous rendezvous and capture system

Many autonomous space systems are under development to economically extend the lives of space systems, either by orbit modification or replenishment of consumables. This paper explains the theory behind and demonstrates experimentally the terminal control portion of an autonomous rendezvous and capture system. The system will grapple the launch bolt holes of common satellite interfaces in order to minimize the necessary client hardware. This is accomplished using a stereoscopic vision system using an edge detector and Hough transform to locate the target point. This project demonstrated the use of off-the-shelf hardware and open source algorithms to accomplish its objective.     

基于差值直方图的简单高效可逆信息隐藏方法

提出一种基于图像相邻像素差值直方图的可逆信息隐藏方法,运用该方法同时提高了信息嵌入容量和嵌入信息后的图像质量。首先对原始图像进行分块、扫描并求取差值直方图,然后在分块图像的差值直方图中选取最高的两个峰值点并向两个方向移位来产生空缺用于信息嵌入。算法充分利用了自然图像的相邻相似特性,同时提高了基于直方图的信息隐藏方案的峰值点数目和峰值点高度,从而大大提高信息嵌入容量。此外,算法在信息嵌入前对待嵌入信息的预处理使得在嵌入同样容量的信息时,对载体图像的影响更小,具有更好的嵌入后图像质量。     

基于LBP人脸纹理特征的差分直方图移位无损信息隐藏算法

针对信息隐藏算法中提高嵌入量与增强鲁棒性之间的矛盾问题,提出一种多载体信息隐藏算法。使用多幅人脸表情图像作为载体,采用局部二值模式（LBP）纹理特征识别人脸表情区域来嵌入加密信息;计算出载体区域的相邻像素差值矩阵,通过对差值矩阵的对应元素的直方图进行移位构造出嵌入空间来实现加密信息的可逆隐藏与载体图像的无损恢复。算法分析证明了比现有算法具有更大的嵌入容量并保持较高的鲁棒性的优势,在最大嵌入容量达到0.561时具有38.421 dB的信噪比（PSNR）,且在识别的嵌入区域PSNR值达到46.286。鲁棒性实验表明,该算法对于滤波攻击可以与原始信息图像的相似度大于99%;面对剪切、平移攻击时,秘密图像归一化系数◢NC◣最小为0.743和0.728,远大于其他算法。从与其他算法的对比实验结果看,该算法是有效的。     

Visual servoing for underactuated VTOL UAVs: a linear,homography‐based framework

The paper concerns the control of vertical take‐off and landing (VTOL) underactuated aerial vehicles (UAVs) in hover flight, on the basis of measurements provided by an onboard video camera. The objective is to stabilize the vehicle to the equilibrium pose associated with an image of a planar target, using a minimal sensor suite and poor knowledge of the environment. By using the homography matrix computed from the camera measurements of the target, stabilizing feedback laws are derived on the basis of the visual data and gyrometer measurements only. Explicit stability conditions on the control parameters are provided, showing that a proper tuning of the control parameters ensures a large robustness margin with only planar target and visibility assumptions, although the target size and orientation, the UAV position, linear velocity and orientation are unknown. Additional issues, such as the use of accelerometers to improve the UAV's positioning in the case of unmodeled dynamics (such as wind), are also considered. Copyright © 2013 John Wiley & Sons, Ltd.     

Robust image-based visual servoing using invariant visual information

This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal.     

基于分层运动分解的飞行机械臂视觉伺服控制

飞行机械臂系统具有主动作业能力, 通过搭载视觉传感器感知周围环境, 系统的自主能力将进一步提高.然而, 考虑到无人机的欠驱动和整个系统的非线性特性, 飞行机械臂系统的视觉伺服控制仍然是一项具有挑战性的工作. 本文在充分考虑机械臂对无人机的力/力矩作用后, 提出了一种基于分层运动分解的飞行机械臂视觉伺服控制方案. 首先, 对飞行机械臂系统的运动学和动力学模型进行分析. 然后, 根据所得的相机运动学模型, 通过基于图像的视觉伺服控制获得相机的期望速度, 进而制定无人机和机械臂的速度分配策略. 在考虑机械臂运动时对无人机产生的力/力矩影响, 设计了底层的飞行控制器. 最后, 在与现有方法的仿真对比中可以看出, 所提方法具有良好的控制性能, 对图像特征点位置的不确定性及图像噪声也表现了较好的鲁棒性     

采用全景相机的移动机器人视觉伺服

为了解决机器人上装置传统相机而产生的视野域有限的问题,采用了全景相机,并且针对采用近似线性输入输出反馈控制模型中近似与假设过多的情况,提出了一种使用极线几何与三角几何相结合的方法,更简便地实现基于图像的视觉伺服运用于移动机器人的情况.由于是基于图像的视觉伺服,该方法不需要预先知道三维场景的结构知识.实验仿真结果表明了该方法的有效性.     

Binocular visual servoing based on linear time-invariant mapping

We propose a simple visual servoing scheme based on the use of binocular visual space. When we use a hand-eye system which has a similar kinematic structure to a human being, we can approximate the transformation from a binocular visual space to a joint space of the manipulator as a linear time-invariant mapping. This relationship makes it possible to generate joint velocities from image observations using a constant linear mapping. This scheme is robust to calibration error, especially to camera turning, because it uses neither camera angles nor joint angles. Some experimental results are also shown to demonstrate the positioning precision remained unchanged despite the calibration error,     

基于Adept机器人的视觉伺服控制系统

机器人视觉伺服控制在理论和应用等方面还有许多问题需要研究,例如特征选择、系统标定和伺服控制算法等.针对Adept机器人,提出了一种简单快速的不需要精确标定摄像机内外部参数的摄像机标定方法,完成了从被观测物体表面所在的视觉平面坐标系到机器人基坐标系的坐标变换.使用图像的全局特征,即图像矩特征进行伺服跟踪;利用所推导的图像雅可比矩阵,设计了由图像反馈与目标运动自适应补偿组成的视觉伺服控制器.将算法对静态目标的定位实验进行了验证,然后又将其应用到移动目标的跟踪上,通过调节和优选控制参数,实现了稳定的伺服跟踪和抓取.实验结果表明采用图像矩作为图像特征能够避免复杂的特征匹配过程,并且能够获得较好的跟踪精度.