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This paper presents the un-calibrated vision servo control algorithm to track the target with mobile manipulator. Color histogram distance calculation methods and shape matching method are discussed to recognize the target .The on-line estimation algorithm for Image Jacobian matrix model is designed based on the Kalman filter. With this image Jacobian on-line estimator, the visual feedback controller is designed for the tasks of tracking target by un-calibrated vision sensor. The efficiency of un-calibrated vision servo control algorithm has been verified by experiments on Hebut-II mobile robot.