Hybrid visual servoing method based on fusion of distance space and image feature space
US11648682B2 · kind B2 · utility
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Key dates
| Filing date | Jan 15, 2021 |
| Grant date | May 16, 2023 |
| Priority date | — |
| Expiry date | Sep 21, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V10/803
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The present disclosure relates to a visual servoing method based on fusion of distance space and image feature space. The method includes: constructing an image Jacobian matrix; constructing a depth Jacobian matrix; fusing the image Jacobian matrix and the depth Jacobian matrix, to obtain a hybrid visual servoing Jacobian matrix; and obtaining a robot motion control amount according to the hybrid visual servoing Jacobian matrix by using a control algorithm, to enable a robot to move to a target position, to complete precise positioning.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.