Abstract: This paper analyzes the motion characteristics of intelligent car with monocular vision, establishes the constraint mode of space and image and movement plane coordinates closely related with car’s motion control, and deduces two different mapping relationship of coordinates according to the relative position and orientation of camera. It discusses the motion control laws of car when applies them in a single target tracking and continuous target tracking, forms a visual servoing framework of eye in hand robot which has strong pertinence and practical value, and experimental results prove the validity of the laws.

Key words: monocular vision, object tracking, intelligent car, visual servoing

摘要： 通过分析单目视觉智能车的运动特征，建立其空间约束模型以及与运动控制密切相关的图像坐标系和运动平面坐标系，在此基础上根据摄像头相对位姿的不同推导出2种不同的坐标映射关系，讨论将其应用在单目标跟踪和连续目标跟踪时的车体运动控制规律，形成一个有较强针对性和实用价值的手眼机器人视觉伺服框架。实验验证了单目视觉智能车伺服规律的有效性。

关键词: 单目视觉, 目标跟踪, 智能车, 视觉伺服

CLC Number: 

• TP18