An Efficient Feature Point Reconstruction Method for Robotic Visual Servoing Based on Multiple Cameras

Qiang Fu; Zi-Liang Zheng; Shu-Yu Zhang

doi:10.6180/jase.202003_23(1).0006

An Efficient Feature Point Reconstruction Method for Robotic Visual Servoing Based on Multiple Cameras

Computer Science and Information Engineering

Qiang Fu^1,2, Zi-Liang Zheng^1,2, Shu-Yu Zhang^1,2

¹School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China
²Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China

Received: October 29, 2019
Accepted: December 11, 2019
Download Citation: ||https://doi.org/10.6180/jase.202003_23(1).0006

ABSTRACT

This paper deals with the problem of reconstructing the three-dimensional (3D) feature points for robotic visual servoing. Based on the epipolar geometry constraint and the ray distance constraint, a 3D feature point reconstruction method is proposed based on multiple cameras. Simulation and real experiments are performed to show the effectiveness of the proposed method (the reconstruction accuracy reaches millimeter level). Compared to traditional feature point reconstruction methods, the proposed method is not only suitable for conventional cameras but also suitable for fish-eye cameras, which expands the application range.

Keywords: 3D reconstruction, point matching, epipolar geometry, ray distance, multiple cameras

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