论文/arXiv 2610.18363·15 天前

基于直线的视觉伺服

提出基于 binormalized Plucker coordinates 的直线视觉伺服方法，并在正交三面体情形下经仿真和实验验证。

AI 整理

• 本体 SDK 与控制
• 仿真与训练

原文链接：Visual Sevoing from Lines（arXiv 2610.18363 · 发布日期：2026-10-13）

Visual Sevoing from Lines

提出基于 binormalized Plucker coordinates 的直线视觉伺服方法，并在正交三面体情形下经仿真和实验验证。

核心要点

• 针对利用直线进行视觉伺服的问题，作者从主要直线表示的理论与几何研究出发。
• 定义了 binormalized Plucker coordinates，使其适合视觉伺服并支持恰当的图像直线对齐概念。
• 提出实现直线对齐的控制律，具备旋转与平移部分解耦、运动方程解析求逆和全局渐近稳定条件。
• 该控制律在正交三面体这一特定情形下进行了仿真和实验验证。

验证范围与局限：验证范围限于正交三面体的特定情形，包含仿真和实验。

英文摘要 (Abstract)

In this work, we present a fundamentally new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allowed us to define a new representation, the so-called binormalized Plucker coordinates. They are particularly well suited to visual servoing. Indeed, they allow the definition of a proper image line alignment concept. The control law which realizes such an alignment has moreover several properties: partial decoupling between rotation and translation, analytical inversion of the motion equations and global asymptotic stability conditions. This control law was validated both in simulation and experimentally in the specific case of an orthogonal trihedron.

作者：Nicolas Andreff, Bernard Espiau, Radu Horaud

来源

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1. arXiv 2610.18363：Visual Sevoing from Lines访问 2026-10-21