文档介绍：Abstract
Micromanipulation robot is a robot system which often works in a very tiny space, and can do very precise operation, which owns bright application prospect in many areas, such as biomedicine, new material preparation, integrated circuit manufacture, and so on. As a main control method in micromanipulation robot system, micro visual servo now es a hot issue during related research areas.
In this paper, we’ll concentrate in research about micro visual servo, including target recognition, and visual servo tracking algorithm.
In research on target recognition from micro visual image, this paper firstly ensure cavity as the main point in detection based on the specific characteristic about the targets in micromanipulation system. After overall consideration about some nowadays popular image object detection algorithms, we selected the method based on feature matching. And then, we employed a quietly new approach named ORB to extract the features of the images, and we demonstrated the method that we adopted owned an excellent accuracy and real-time property.
After that, we developed the study on visual servo tracking algorithm. At first, we analysed the advantage and weakness of standard Kalman filter and conventional adaptive Kalman filter, and aimed at their weakness that they were sensitive to process and observation noise, we put the emphasis on the research on the robust Kalman filter algorithm. Based on the works above, we proposed an improved adaptive Kalman filter, combined it with current statistic model, and the property of micro visual system, we selected the control method, and built a testing system on visual tracking, through the simulation, we demonstrated the effectiveness of our method.
Keywords: Target tracking; Target recognition; ORB; Kalman filter
目 录
摘要.................................................................................................................... I
Abstract.........................................................