Abstract
In this paper, on the basis of the robot visual servo system, a virtual visual servo algorithm for pose estimation is put forward. By reducing the image error between the current image features of real object and the features of virtual models, the rotation and translation relation of the virtual model is changed by visual servo control law, until the pose of virtual model overlaps the one of real object, and then object pose estimation is obtained. In addition, RANSAC algorithm is also introduced to improve the robustness of the proposed algorithm. Finally the experiment about camera external parameters estimation shows that our algorithm gets better results than the available parameter estimation algorithms.
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