A monocular camera-based vision system attached to a mobile robot (i.e., the camera-in-hand configuration) is considered in this paper. By comparing corresponding target points of an object from two different camera images, geometric relationships are exploited to derive a transformation that relates the actual position and orientation of the mobile robot to a reference position and orientation. This transformation is used to synthesize a rotation and translation error system from the current position and orientation to the fixed reference position and orientation. Lyapunov-based techniques are used to construct an adaptive estimate to compensate for a constant, unmeasurable depth parameter, and to prove asymptotic regulation of the mobile robot. The contribution of this paper is that Lyapunov techniques are exploited to craft an adaptive controller that enables mobile robot position and orientation regulation despite the lack of an object model and the lack of depth information. Experimental results are provided to illustrate the performance of the controller.

中文翻译：

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基于全息摄影的移动机器人视觉伺服调节。

本文考虑了连接到移动机器人的基于单眼相机的视觉系统（即手持摄像机）。通过比较来自两个不同相机图像的对象的相应目标点，可以利用几何关系得出将移动机器人的实际位置和方向与参考位置和方向相关联的转换。该变换用于合成从当前位置和方向到固定参考位置和方向的旋转和平移误差系统。基于李雅普诺夫的技术可用于构造自适应估计，以补偿恒定的，不可测量的深度参数，并证明移动机器人的渐近调节。本文的贡献在于，利用Lyapunov技术制造了自适应控制器，尽管缺少对象模型和深度信息，该控制器仍可实现移动机器人的位置和方向调节。提供实验结果来说明控制器的性能。