オンラインキャリブレーションによる位置ベースビジュアルサーボの精度向上

抄録

Position-based visual servoing has the disadvantages of low initial calibration accuracy and sensitivity to noise such as environmental changes. Therefore, in order to enable highly accurate object tracking of position-based visual servoing considering disturbances, this study performs online calibration using the least-squares method during the operation of position-based visual servoing considering errors that occur during feature point extraction on images and calibration errors of the camera. The camera pose is calibrated using the least squares method during operation. This enables the position-based visual servoing to reach objects with high accuracy, considering the measurement errors.